diff --git a/yzr/swap_T/assets_manifest.tsv b/yzr/swap_T/assets_manifest.tsv new file mode 100644 index 0000000000000000000000000000000000000000..ef2a1c3ed7efc6ba52d54c3c60576be6cad8f490 --- /dev/null +++ b/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 +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_left_wrist.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_left_wrist.mp4 2430095 +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_right_wrist.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_right_wrist.mp4 2499632 +43 swap_T_calv8_seed43_official400 log outputs/logs/swap_T_calv8_seed43_official400.log yzr/swap_T/logs/swap_T_calv8_seed43_official400.log 60690 +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 +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_left_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_left_wrist.mp4 2294410 +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 +45 swap_T_calv8_seed45_official400 log outputs/logs/swap_T_calv8_seed45_official400.log yzr/swap_T/logs/swap_T_calv8_seed45_official400.log 62851 +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 +46 swap_T_calv8_seed46_official400 log outputs/logs/swap_T_calv8_seed46_official400.log yzr/swap_T/logs/swap_T_calv8_seed46_official400.log 65279 +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 +49 swap_T_stagegatev23_seed49_diag700 video outputs/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_head.mp4 yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_head.mp4 3744805 +49 swap_T_stagegatev23_seed49_diag700 video outputs/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_left_wrist.mp4 yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_left_wrist.mp4 2563200 +49 swap_T_stagegatev23_seed49_diag700 video outputs/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_right_wrist.mp4 yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_right_wrist.mp4 2568119 +50 swap_T_stagegatev23_seed50_diag700 log outputs/logs/swap_T_stagegatev23_seed50_diag700.log yzr/swap_T/logs/swap_T_stagegatev23_seed50_diag700.log 62735 +50 swap_T_stagegatev23_seed50_diag700 video outputs/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_head.mp4 yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_head.mp4 3426009 +50 swap_T_stagegatev23_seed50_diag700 video outputs/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_left_wrist.mp4 yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_left_wrist.mp4 2399141 +50 swap_T_stagegatev23_seed50_diag700 video outputs/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_right_wrist.mp4 yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_right_wrist.mp4 2775774 +52 swap_T_officialv32_seed52_official400 log outputs/logs/swap_T_officialv32_seed52_official400.log yzr/swap_T/logs/swap_T_officialv32_seed52_official400.log 58999 +52 swap_T_officialv32_seed52_official400 video outputs/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_head.mp4 yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_head.mp4 2790380 +52 swap_T_officialv32_seed52_official400 video outputs/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_left_wrist.mp4 yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_left_wrist.mp4 2229594 +52 swap_T_officialv32_seed52_official400 video outputs/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_right_wrist.mp4 yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_right_wrist.mp4 2062160 +53 swap_T_calv8_seed53_official400 log outputs/logs/swap_T_calv8_seed53_official400.log yzr/swap_T/logs/swap_T_calv8_seed53_official400.log 59045 +53 swap_T_calv8_seed53_official400 video outputs/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_head.mp4 yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_head.mp4 3018506 +53 swap_T_calv8_seed53_official400 video outputs/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_left_wrist.mp4 yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_left_wrist.mp4 2145094 +53 swap_T_calv8_seed53_official400 video outputs/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_right_wrist.mp4 yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_right_wrist.mp4 2201524 +54 swap_T_officialv45_seed54_official400 log outputs/logs/swap_T_officialv45_seed54_official400.log yzr/swap_T/logs/swap_T_officialv45_seed54_official400.log 68383 +54 swap_T_officialv45_seed54_official400 video outputs/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_head.mp4 yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_head.mp4 4017546 +54 swap_T_officialv45_seed54_official400 video outputs/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_left_wrist.mp4 yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_left_wrist.mp4 4132657 +54 swap_T_officialv45_seed54_official400 video outputs/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_right_wrist.mp4 yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_right_wrist.mp4 2547955 diff --git a/yzr/swap_T/hdf5/seed_00.hdf5 b/yzr/swap_T/hdf5/seed_00.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..96b54f7676f20f1db7c018967fec65b3c540764b --- /dev/null +++ b/yzr/swap_T/hdf5/seed_00.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:716a8b2435fe65fa8ffc7ec7702096e4f728d4f31e183a0a14e241b581ffaa48 +size 375996412 diff --git a/yzr/swap_T/hdf5/seed_01.hdf5 b/yzr/swap_T/hdf5/seed_01.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..51d82792bebde5898ca259ef9466b422c7bbcc74 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_01.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e23b48918c01efdf540307bf8a2964e3a98cb96100e75fc1c818671bcb868a2 +size 376717044 diff --git a/yzr/swap_T/hdf5/seed_02.hdf5 b/yzr/swap_T/hdf5/seed_02.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..464715a66aa8f7ef589228dc8fb37914677fb921 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_02.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ddcd1e8d7d9f35995b466f34f0e8ae254d5c1f6e2889c39d45a29f17e6422b8 +size 296870905 diff --git a/yzr/swap_T/hdf5/seed_03.hdf5 b/yzr/swap_T/hdf5/seed_03.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..b8062d29bf801a42030aada1473878fb0fd6ead4 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_03.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f756055a5553ab52c59e7ed9d8f26636bb18f8997af1bd28529f1d29f2ad8080 +size 397364456 diff --git a/yzr/swap_T/hdf5/seed_04.hdf5 b/yzr/swap_T/hdf5/seed_04.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..28f85ccb1aeb8033ba1d30841ac15134a13ee35b --- /dev/null +++ b/yzr/swap_T/hdf5/seed_04.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96bd5dfd62dbca0ec422f3415809bf8bbd83b2745f2273ba71eeb5e29f609e06 +size 363124459 diff --git a/yzr/swap_T/hdf5/seed_05.hdf5 b/yzr/swap_T/hdf5/seed_05.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5ffe758cbf0d17ce342a47b5a94fea56b1675770 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_05.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f07df5dea2e7ead3cdd81343452035fd6afca2a59f49f260a07decb38944ac72 +size 340381903 diff --git a/yzr/swap_T/hdf5/seed_07.hdf5 b/yzr/swap_T/hdf5/seed_07.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d1acfbd121fa72157fe528fe56017f9597baddf3 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_07.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccbe5efe47c2b222e9ed5e53374099476e878bb7d15af24bfc676fcce682262b +size 337895572 diff --git a/yzr/swap_T/hdf5/seed_08.hdf5 b/yzr/swap_T/hdf5/seed_08.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..557430d235a2a55c12048d5f16f77651e4ae94f5 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_08.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21cd8c43095799fb66ceba7faaa29f1a6f9ea2c5229ae439551369f594718dbe +size 400039697 diff --git a/yzr/swap_T/hdf5/seed_10.hdf5 b/yzr/swap_T/hdf5/seed_10.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..87d9e7c4bb06f49f8da6aa04b740d51323b1b66d --- /dev/null +++ b/yzr/swap_T/hdf5/seed_10.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:167558e2acc257fb9ab4ce0e99c8e8edd7a8e60e80596d7f051d54dd250713ee +size 350872669 diff --git a/yzr/swap_T/hdf5/seed_11.hdf5 b/yzr/swap_T/hdf5/seed_11.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..b5404e5f6af22aa5d881c2029a5230a598b151b5 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_11.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b3414b0c66d3eb7c0be2846042e0f3eb2538b6f68f610e3234be39a42074e37 +size 395387909 diff --git a/yzr/swap_T/hdf5/seed_12.hdf5 b/yzr/swap_T/hdf5/seed_12.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..00a6c39564b82f8254453761b27659a1b6a25ea9 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_12.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc78af3e4b67004d87eaa3b5a3a0242f3b8031af8b05be991e17778444331c9 +size 403285748 diff --git a/yzr/swap_T/hdf5/seed_14.hdf5 b/yzr/swap_T/hdf5/seed_14.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..8fd30910a566a96a22dca91608b683cb3e7f111b --- /dev/null +++ b/yzr/swap_T/hdf5/seed_14.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:042c7f91ad4faa513713680dacca413bea163177a7bf50f6a4a881c278327f5e +size 329244946 diff --git a/yzr/swap_T/hdf5/seed_15.hdf5 b/yzr/swap_T/hdf5/seed_15.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..f604f4f5efa52643fa94aed161bbaea7906254db --- /dev/null +++ b/yzr/swap_T/hdf5/seed_15.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c92ab53a0a4f5a7b4b8fb1a55da68df6e02add2fc3fcf1622cb378e750c5eb1b +size 341040768 diff --git a/yzr/swap_T/hdf5/seed_16.hdf5 b/yzr/swap_T/hdf5/seed_16.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5b205f8df887d84f0f76d212f2aead62b6ba50dc --- /dev/null +++ b/yzr/swap_T/hdf5/seed_16.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cb9df3a550dbe2131f27c1f6d2e3c30e9af3d7722b3453221430b436f97e225 +size 387052458 diff --git a/yzr/swap_T/hdf5/seed_17.hdf5 b/yzr/swap_T/hdf5/seed_17.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..5908a200b4ac9696d57dc2588a1ca98de29a5d41 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_17.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1e1f0f9b2496839fe5f8cd7650db99c2b1349d79fcb7f319374985a687b8a48 +size 310497350 diff --git a/yzr/swap_T/hdf5/seed_19.hdf5 b/yzr/swap_T/hdf5/seed_19.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..fe96fa698ed3a463885a3bb7f07c7b695c59cdd2 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_19.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59a6eab8b5f224c5156fd189f2b55140e11b78dca385eddeaf4929a0229cafe7 +size 358210606 diff --git a/yzr/swap_T/hdf5/seed_21.hdf5 b/yzr/swap_T/hdf5/seed_21.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9ba0478b010f0c2c04a208a5fcb409119a67a1a0 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_21.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb5aa034d9cf05a4986205ba652b4f3fb51a99b44022ac76df6363b93bdb637f +size 390253077 diff --git a/yzr/swap_T/hdf5/seed_22.hdf5 b/yzr/swap_T/hdf5/seed_22.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..07fadab2b32ad32e9adf87a8ef3fe568ae668f9c --- /dev/null +++ b/yzr/swap_T/hdf5/seed_22.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82f14598126002d8e313d1f606f80d7d085ca9ea985d455e87938febbcbcd8f0 +size 336415074 diff --git a/yzr/swap_T/hdf5/seed_23.hdf5 b/yzr/swap_T/hdf5/seed_23.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..84a7180db9dd179b76c14928c805814f3c7a64f0 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_23.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2753ecd116ed9924788ad45e0f75c797460cb8deead7110acd10e3cefe2164fd +size 397263259 diff --git a/yzr/swap_T/hdf5/seed_24.hdf5 b/yzr/swap_T/hdf5/seed_24.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ffb9faedd649f7fd5a552e6e8c3ffa7e95b6b9bb --- /dev/null +++ b/yzr/swap_T/hdf5/seed_24.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed54e38568f65ef9a3bffc72ac3c1589f4e9d333f80175d9d4fa204353dfb73c +size 354126351 diff --git a/yzr/swap_T/hdf5/seed_26.hdf5 b/yzr/swap_T/hdf5/seed_26.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..428e34a741ed0c406ba5da947eacde3c1962dc9f --- /dev/null +++ b/yzr/swap_T/hdf5/seed_26.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99d5bd27635a9707afc129768183300032c3cd237e17477e315890539ee0ea87 +size 320461048 diff --git a/yzr/swap_T/hdf5/seed_27.hdf5 b/yzr/swap_T/hdf5/seed_27.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..3d9d94e77141252b9e5a8a95d465c5b8ce79e64d --- /dev/null +++ b/yzr/swap_T/hdf5/seed_27.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21f11e717ecdd961cddf9d0515b175fc7170f46d47f8c953d0911539b99e26f8 +size 361372456 diff --git a/yzr/swap_T/hdf5/seed_29.hdf5 b/yzr/swap_T/hdf5/seed_29.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..59d8126707e3f14171f50865cfb80fcad047dd82 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_29.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3b6f5aef5eca9fa88485237e00ef50599149d72fbfa846752235aac46640fd9 +size 361916043 diff --git a/yzr/swap_T/hdf5/seed_30.hdf5 b/yzr/swap_T/hdf5/seed_30.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..a10d06c216fca0fc56e2dff0beda8c5af29b2a41 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_30.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4703d5d8f11ab8e5b3fc1feafc709e0c0062ff49ef1e7e18edc1b9c10c95bc9 +size 348947324 diff --git a/yzr/swap_T/hdf5/seed_32.hdf5 b/yzr/swap_T/hdf5/seed_32.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..dfafc61abf3a3c0856adc31a60589029573f3e17 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_32.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6ff2e70d651fef5834c1bf4bbe7a20a7469eeab1adc39c6f3f59a7e2935be4f +size 389828824 diff --git a/yzr/swap_T/hdf5/seed_35.hdf5 b/yzr/swap_T/hdf5/seed_35.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..67f9127bf9155b387981324398c375f2372f453b --- /dev/null +++ b/yzr/swap_T/hdf5/seed_35.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0b86786872d14a7b3fc02ea37c5d7a776fba0cc3de787b39dbd30cd4ab0f7d0 +size 355139585 diff --git a/yzr/swap_T/hdf5/seed_36.hdf5 b/yzr/swap_T/hdf5/seed_36.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..a49e5b154d8255ff25dd14e9ce58a22a8e7b3e97 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_36.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:509a3ba7821a305375de17edad1804effbbc4046e7e080eead8768b28edf19fe +size 372436278 diff --git a/yzr/swap_T/hdf5/seed_38.hdf5 b/yzr/swap_T/hdf5/seed_38.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..fc9b99c578e18d2f6aaf6e977dd06769257a9103 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_38.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e37cfd9fdf9a2d8f61902be7a8e7006987775b08cda9db57c057d7596addefe +size 336759074 diff --git a/yzr/swap_T/hdf5/seed_39.hdf5 b/yzr/swap_T/hdf5/seed_39.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..13670542c393f313ffa5a9c0c22fcff335331cbe --- /dev/null +++ b/yzr/swap_T/hdf5/seed_39.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53995267c5ba6f94b7fe9906629b878d1073c5a24393d7d53b651b500ae2184a +size 392706810 diff --git a/yzr/swap_T/hdf5/seed_40.hdf5 b/yzr/swap_T/hdf5/seed_40.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..9a95bdf13550afb7113a7b65d8eb42f8d373250e --- /dev/null +++ b/yzr/swap_T/hdf5/seed_40.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:145246927a3cbe3225fc989031db071b7ab23a5269660e4ef9be45cf9bcb1b20 +size 362523590 diff --git a/yzr/swap_T/hdf5/seed_42.hdf5 b/yzr/swap_T/hdf5/seed_42.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..65063484b2c2beff0da7c805e92e81fb89627acb --- /dev/null +++ b/yzr/swap_T/hdf5/seed_42.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a4dfd645a339b91f1940776c28e34ddb2c2fe4b9b1f32ca78c5e288d835be6f +size 330538536 diff --git a/yzr/swap_T/hdf5/seed_43.hdf5 b/yzr/swap_T/hdf5/seed_43.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..39bb5a76eb1e4d3c7fd81427d3bbc5bfb6e9ff95 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_43.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b198762eea61c9936b6874adfd0727244f9200058e9689ef1f5a39a1b14f4e7 +size 310183946 diff --git a/yzr/swap_T/hdf5/seed_45.hdf5 b/yzr/swap_T/hdf5/seed_45.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ff2be3e09d694e51a78dbf75ee80a2cfc7a63016 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_45.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e8c2b8b413029f13541f21a8bdf41a09c00cc6d72ad270a7f26258d106a40ce +size 344506527 diff --git a/yzr/swap_T/hdf5/seed_46.hdf5 b/yzr/swap_T/hdf5/seed_46.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1482e5ca6c05a2702dd6af10e65676806544026d --- /dev/null +++ b/yzr/swap_T/hdf5/seed_46.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:173bd25b42ec2e48bb84d0360da7c83cbba3dad6cbc923a86a7217bafc454de3 +size 367638080 diff --git a/yzr/swap_T/hdf5/seed_47.hdf5 b/yzr/swap_T/hdf5/seed_47.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..602995beca233c87fcb440fa7817277f1d478cfd --- /dev/null +++ b/yzr/swap_T/hdf5/seed_47.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5655a51963c5b5a63347665e12799203574e7b52f96cb971dc8bd327b70f4ed +size 406944378 diff --git a/yzr/swap_T/hdf5/seed_48.hdf5 b/yzr/swap_T/hdf5/seed_48.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d55b6c7df5f3d3722e05649ff9c5ba358e5eddf2 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_48.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6f7c385f5c7297923ac58ccbafd935a2d89b7e50e49a3f1d0d113cd9b6e18b0 +size 376336295 diff --git a/yzr/swap_T/hdf5/seed_49.hdf5 b/yzr/swap_T/hdf5/seed_49.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1c2e36a1c9a91b26c4aa7b45c36afe2d8d5fbc05 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_49.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2032fe4103bab0dabd3c2f90bc6f122ef5a88f600cf365607bf8b7828a6a1548 +size 377927737 diff --git a/yzr/swap_T/hdf5/seed_50.hdf5 b/yzr/swap_T/hdf5/seed_50.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..775e21e1af3150a431561114614b71fc594f3d26 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_50.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6be3f29162ba669fd69ef5ad2f6c437cf52cde59d2505adcbf0bbb292bde708c +size 347967932 diff --git a/yzr/swap_T/hdf5/seed_52.hdf5 b/yzr/swap_T/hdf5/seed_52.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..3b291878261feb25d813aa71d0d7251ce344087f --- /dev/null +++ b/yzr/swap_T/hdf5/seed_52.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:323da4516c074fc8b28de7c01f0274b2bcbaf12b7b05277bd219870bd393933f +size 291170745 diff --git a/yzr/swap_T/hdf5/seed_53.hdf5 b/yzr/swap_T/hdf5/seed_53.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..3bbefcbd94f6baaf986fca4578b0ef97c4e1f95e --- /dev/null +++ b/yzr/swap_T/hdf5/seed_53.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8976d2756ca431f72e3e8c4e871a42c0a3b2ee6f055e9492136d21aedcd9a69c +size 295310327 diff --git a/yzr/swap_T/hdf5/seed_54.hdf5 b/yzr/swap_T/hdf5/seed_54.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..720bf7793907864d575dffc3b20925d4ef7f6161 --- /dev/null +++ b/yzr/swap_T/hdf5/seed_54.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:934983a4d384ad345032f00cbc9713e07f874b5db349bbf7499657699ba4e0b6 +size 396204763 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed22_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed22_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..79ed13b9c60334cb104fab6522d213020c6f1013 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_calv8_seed22_official400.log @@ -0,0 +1,822 @@ +[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 +[0.274s] [ext: omni.metrics.core-0.0.3] startup +[0.275s] [ext: omni.client.lib-1.1.0] startup +[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 +[0.297s] [ext: omni.client-1.3.0] startup +[0.303s] [ext: omni.ujitso.default-1.0.0] startup +[0.305s] [ext: omni.hsscclient-1.1.2] startup +[0.327s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.329s] [ext: omni.assets.plugins-0.0.0] startup +[0.330s] [ext: omni.gpu_foundation-0.0.0] startup +[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 +|---------------------------------------------------------------------------------------------| +[3.662s] [ext: omni.materialx.libs-1.0.7] startup +[3.685s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.688s] [ext: omni.kit.test-2.0.1] startup +[3.769s] [ext: omni.kit.pipapi-0.0.0] startup +[3.770s] [ext: omni.usd.config-1.0.6] startup +[3.776s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.777s] [ext: omni.usd.libs-1.0.1] startup +[3.892s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.893s] [ext: omni.mdl-56.0.3] startup +[3.914s] [ext: omni.iray.libs-0.0.0] startup +[3.921s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.923s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.026s] [ext: omni.kit.telemetry-0.5.2] startup +[4.079s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T20:27:18Z [4,053ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +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 +2026-07-23T20:27:18Z [4,079ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +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 +[4.120s] [ext: omni.kit.renderer.imgui-2.0.5] startup +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 +[4.238s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.239s] [ext: carb.audio-0.1.0] startup +[4.266s] [ext: omni.uiaudio-1.0.0] startup +[4.267s] [ext: omni.kit.uiapp-0.0.0] startup +[4.268s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.271s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.278s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.281s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.285s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.288s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.312s] [ext: omni.usd_resolver-1.0.0] startup +[4.316s] [ext: omni.usd.core-1.5.3] startup +[4.320s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.345s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.354s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.388s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.389s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.390s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.395s] [ext: omni.graph.exec-0.9.6] startup +[4.396s] [ext: omni.kit.actions.core-1.0.0] startup +[4.398s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.398s] [ext: omni.kit.exec.core-0.13.4] startup +[4.400s] [ext: omni.kit.commands-1.4.10] startup +[4.404s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.408s] [ext: omni.activity.core-1.0.3] startup +[4.409s] [ext: omni.resourcemonitor-107.0.1] startup +[4.411s] [ext: omni.timeline-1.0.14] startup +[4.413s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.415s] [ext: usdrt.scenegraph-7.6.1] startup +[4.455s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.457s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.465s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.471s] [ext: omni.usd-1.13.10] startup +[4.499s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.512s] [ext: omni.index.libs-380600.8087.0] startup +[4.512s] [ext: omni.volume-0.5.2] startup +[4.515s] [ext: omni.ujitso.client-0.0.0] startup +[4.516s] [ext: omni.index-1.0.1] startup +[4.516s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.517s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T20:27:18Z [4,511ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.558s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.560s] [ext: omni.kit.clipboard-1.0.5] startup +[4.560s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.564s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.570s] [ext: omni.kit.menu.core-1.1.2] startup +[4.571s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.574s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.575s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.576s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.577s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.578s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.582s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.583s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.592s] [ext: omni.ui.scene-1.11.5] startup +[4.596s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.597s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.611s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.618s] [ext: omni.kit.context_menu-1.8.6] startup +[4.620s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.626s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.630s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.632s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.633s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.634s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.638s] [ext: omni.kit.material.library-2.0.7] startup +[4.642s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.646s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.648s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.663s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.667s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.672s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.673s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.677s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.681s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.682s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.684s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.686s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.686s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.688s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.695s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.698s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.698s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.700s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.701s] [ext: omni.fabric.commands-1.1.6] startup +[4.704s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.705s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.706s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.708s] [ext: omni.debugdraw-0.1.4] startup +[4.713s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.726s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.727s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.727s] [ext: omni.kvdb-107.3.26] startup +[4.729s] [ext: omni.convexdecomposition-107.3.26] startup +[4.732s] [ext: omni.physx.foundation-107.3.26] startup +[4.734s] [ext: omni.localcache-107.3.26] startup +[4.735s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.736s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.736s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.737s] [ext: omni.usdphysics-107.3.26] startup +[4.739s] [ext: omni.kit.window.file-2.0.5] startup +[4.745s] [ext: omni.physx.cooking-107.3.26] startup +[4.748s] [ext: omni.physics-107.3.26] startup +[4.752s] [ext: omni.kit.window.property-1.12.1] startup +[4.754s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.766s] [ext: omni.physx-107.3.26] startup +[4.776s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.778s] [ext: omni.kit.property.usd-4.5.12] startup +[4.789s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.790s] [ext: omni.physics.physx-107.3.26] startup +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: ), 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 +[4.793s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.806s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.811s] [ext: omni.inspect-1.0.2] startup +[4.814s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.833s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.835s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.843s] [ext: omni.graph.core-2.184.5] startup +[4.846s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.848s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.877s] [ext: omni.physx.commands-107.3.26] startup +[4.881s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.882s] [ext: omni.isaac.dynamic_control-2.0.7] startup +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 +[4.925s] [ext: isaacsim.core.version-2.0.6] startup +[4.925s] [ext: omni.physics.tensors-107.3.26] startup +[4.930s] [ext: omni.warp.core-1.8.2] startup +[5.131s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.135s] [ext: isaacsim.storage.native-1.5.1] startup +[5.136s] [ext: omni.physx.tensors-107.3.26] startup +[5.143s] [ext: isaacsim.core.utils-3.5.1] startup +[5.146s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.579s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.582s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.584s] [ext: omni.kit.window.stage-2.6.1] startup +[6.590s] [ext: omni.kit.menu.create-2.0.1] startup +[6.591s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.597s] [ext: omni.kit.scripting-107.3.2] startup +[6.602s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.606s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.606s] [ext: omni.graph.tools-1.79.2] startup +[6.628s] [ext: omni.ui_query-1.1.8] startup +[6.629s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.629s] [ext: omni.graph-1.141.2] startup +[6.671s] [ext: omni.graph.action_core-1.1.7] startup +[6.673s] [ext: omni.kit.ui_test-1.3.7] startup +[6.677s] [ext: omni.kit.browser.core-2.3.13] startup +[6.683s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.686s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.693s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.695s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.706s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.714s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.729s] [ext: omni.graph.action-1.130.0] startup +[6.734s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.738s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.746s] [ext: isaacsim.gui.components-1.2.1] startup +[6.756s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.763s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.900s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.907s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.916s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.010s] [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 +[7.023s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.027s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.034s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.037s] [ext: omni.graph.image.core-0.6.1] startup +[7.038s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.039s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.042s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.043s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.046s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.047s] [ext: omni.graph.nodes-1.170.10] startup +[7.059s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.063s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.069s] [ext: omni.syntheticdata-0.6.13] startup +[7.113s] [ext: omni.videoencoding-0.1.2] startup +[7.117s] [ext: omni.warp-1.8.2] startup +[7.124s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.143s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.149s] [ext: isaacsim.core.prims-0.6.1] startup +[7.211s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.228s] [ext: omni.replicator.core-1.12.27] startup +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 +[7.512s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.591s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.608s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.621s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.630s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.652s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.668s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.697s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.719s] [ext: omni.sensors.net-1.0.0] startup +[7.732s] [ext: isaacsim.app.about-2.0.11] startup +[7.737s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.740s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.746s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.800s] [ext: omni.kit.property.audio-1.0.16] startup +[7.822s] [ext: omni.kit.property.camera-1.0.10] startup +[7.837s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.872s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.908s] [ext: omni.kit.property.light-1.0.12] startup +[7.947s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.956s] [ext: omni.kit.selection-0.1.6] startup +[7.961s] [ext: omni.kit.property.material-1.11.9] startup +[8.031s] [ext: omni.kit.property.transform-1.5.13] startup +[8.079s] [ext: omni.kit.property.render-1.2.1] startup +[8.122s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.142s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.262s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.438s] [ext: isaacsim.gui.property-1.1.3] startup +[8.526s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.612s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.748s] [ext: isaacsim.sensors.physics-0.4.3] startup +[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 +[9.086s] [ext: omni.kit.property.physx-107.3.26] startup +[9.134s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.169s] [ext: omni.asset_validator.core-1.1.6] startup +[9.281s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.289s] [ext: omni.physx.vehicle-107.3.26] startup +[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 +[9.353s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.369s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.378s] [ext: omni.physx.camera-107.3.26] startup +[9.396s] [ext: omni.anim.curve.core-1.3.1] startup +[9.423s] [ext: omni.physx.cct-107.3.26] startup +[9.443s] [ext: omni.physx.graph-107.3.26] startup +[9.467s] [ext: omni.physx.supportui-107.3.26] startup +[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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0171 tracking_error=0.0099 gripper_position=0.4074 secured=True +[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 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1081 tracking_error=0.0072 secured=True +[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 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0104 tracking_error=0.0180 gripper_position=0.2204 secured=False +[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 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0143 tracking_error=0.0150 gripper_position=0.2069 secured=True +[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 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1032 tracking_error=0.0019 secured=True +[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 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect][auto_swap_T] left_rotate step=15 xy=0.0001 z=0.0000 yaw_deg=0.24 +[collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect][auto_swap_T] left_align step=20 xy=0.2601 z=0.0038 yaw_deg=-0.03 +[collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect][auto_swap_T] left_align step=40 xy=0.1740 z=0.0002 yaw_deg=-0.04 +[collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect][auto_swap_T] left_align step=60 xy=0.0890 z=0.0002 yaw_deg=0.00 +[collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect][auto_swap_T] left_align step=80 xy=0.0080 z=0.0000 yaw_deg=-0.20 +[collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect][auto_swap_T] left_align step=83 xy=0.0030 z=0.0003 yaw_deg=-0.44 +[collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect][auto_swap_T] left_release step=88 xy=0.0014 z=0.0002 yaw_deg=-0.16 +[collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect][auto_swap_T] left_release step=100 xy=0.0010 z=0.0040 yaw_deg=-0.74 +[collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect][auto_swap_T] left_feedback released center=[0.07999999821186066, -0.17440000176429749, 0.7724999785423279] quat=[0.699999988079071, -0.0, -0.0, 0.7142000198364258] +[collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.21199999749660492, -0.16660000383853912, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.14959999918937683, -9.999999747378752e-05, -0.010300000198185444] +[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 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.00 +[collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0006 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=0.02 +[collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0002 z=0.0040 yaw_deg=-0.15 +[collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect][auto_swap_T] right_feedback released center=[-0.054099999368190765, -0.18479999899864197, 0.7724999785423279] quat=[0.7466999888420105, -0.0, -0.0, 0.6651999950408936] +[collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.080045, -0.174417, 0.7725], 'quat': [0.699956, -1e-06, -1e-06, 0.714186]}, 't1': {'pos': [-0.054109, -0.184794, 0.7725], 'quat': [0.74666, -2e-06, -3e-06, 0.665206]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed27_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed27_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..f0a23c41b68a90dcb5b05adb1ed9c309b232c1ff --- /dev/null +++ b/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: ), 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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0254 tracking_error=0.0014 gripper_position=0.3474 secured=True +[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 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.0955 tracking_error=0.0034 secured=True +[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 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0204 tracking_error=0.0178 gripper_position=0.1577 secured=True +[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 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1064 tracking_error=0.0002 secured=True +[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 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0003 z=0.0000 yaw_deg=-63.59 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0003 z=0.0000 yaw_deg=-28.94 +[collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect][auto_swap_T] left_rotate step=57 xy=0.0002 z=0.0000 yaw_deg=-0.18 +[collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0001 z=0.0000 yaw_deg=-0.01 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1466 z=0.0001 yaw_deg=-0.03 +[collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0610 z=0.0001 yaw_deg=-0.03 +[collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect][auto_swap_T] left_align step=120 xy=0.0172 z=0.0007 yaw_deg=-0.70 +[collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect][auto_swap_T] left_align step=136 xy=0.0040 z=0.0005 yaw_deg=-0.53 +[collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect][auto_swap_T] left_align step=140 xy=0.0029 z=0.0002 yaw_deg=-0.38 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect][auto_swap_T] left_release step=141 xy=0.0027 z=0.0002 yaw_deg=-0.34 +[collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect][auto_swap_T] left_feedback released center=[0.04470000043511391, -0.1843000054359436, 0.7724999785423279] quat=[0.9667999744415283, -0.0, 0.0, -0.2554999887943268] +[collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.19619999825954437, -0.21950000524520874, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.15060000121593475, -0.00019999999494757503, 0.007199999876320362] +[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 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.11 +[collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0003 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0001 z=0.0005 yaw_deg=-0.03 +[collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0002 z=0.0040 yaw_deg=-0.29 +[collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect][auto_swap_T] right_feedback released center=[-0.06069999933242798, -0.16519999504089355, 0.7724999785423279] quat=[0.7440999746322632, -0.0, -0.0, 0.6680999994277954] +[collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.044656, -0.184287, 0.7725], 'quat': [0.966821, -0.0, 0.0, -0.255456]}, 't1': {'pos': [-0.060672, -0.165235, 0.7725], 'quat': [0.74408, -1e-06, -1e-06, 0.66809]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed29_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed29_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..46e8a9fc6111133d43b680b99f36e49af86f1cdf --- /dev/null +++ b/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 +[2.614s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.616s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.625s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.632s] [ext: omni.usd-1.13.10] startup +[2.661s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.677s] [ext: omni.index.libs-380600.8087.0] startup +[2.677s] [ext: omni.volume-0.5.2] startup +[2.681s] [ext: omni.ujitso.client-0.0.0] startup +[2.681s] [ext: omni.index-1.0.1] startup +[2.682s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.683s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T20:52:41Z [2,676ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.728s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.730s] [ext: omni.kit.clipboard-1.0.5] startup +[2.731s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.734s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.741s] [ext: omni.kit.menu.core-1.1.2] startup +[2.741s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.744s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.746s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.747s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.748s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.749s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.753s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.754s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.762s] [ext: omni.ui.scene-1.11.5] startup +[2.767s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.768s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.782s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.789s] [ext: omni.kit.context_menu-1.8.6] startup +[2.791s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.797s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.801s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.803s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.804s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.805s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.808s] [ext: omni.kit.material.library-2.0.7] startup +[2.813s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.816s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.818s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.833s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.838s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.843s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.844s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.848s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.852s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.852s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.854s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.856s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.857s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.858s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.864s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.867s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.868s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.869s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.870s] [ext: omni.fabric.commands-1.1.6] startup +[2.873s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.874s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.875s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.877s] [ext: omni.debugdraw-0.1.4] startup +[2.881s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.892s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.892s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.892s] [ext: omni.kvdb-107.3.26] startup +[2.894s] [ext: omni.convexdecomposition-107.3.26] startup +[2.897s] [ext: omni.physx.foundation-107.3.26] startup +[2.899s] [ext: omni.localcache-107.3.26] startup +[2.900s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.901s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.902s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.902s] [ext: omni.usdphysics-107.3.26] startup +[2.905s] [ext: omni.kit.window.file-2.0.5] startup +[2.908s] [ext: omni.physx.cooking-107.3.26] startup +[2.911s] [ext: omni.physics-107.3.26] startup +[2.914s] [ext: omni.kit.window.property-1.12.1] startup +[2.917s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.928s] [ext: omni.physx-107.3.26] startup +[2.939s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.941s] [ext: omni.kit.property.usd-4.5.12] startup +[2.951s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.952s] [ext: omni.physics.physx-107.3.26] startup +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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.955s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.955s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.971s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.976s] [ext: omni.inspect-1.0.2] startup +[2.977s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.989s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.990s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.998s] [ext: omni.graph.core-2.184.5] startup +[3.001s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.002s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.029s] [ext: omni.physx.commands-107.3.26] startup +[3.033s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.034s] [ext: omni.isaac.dynamic_control-2.0.7] startup +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. +[3.041s] [ext: omni.physx.ui-107.3.26] startup +[3.073s] [ext: isaacsim.core.version-2.0.6] startup +[3.074s] [ext: omni.physics.tensors-107.3.26] startup +[3.079s] [ext: omni.warp.core-1.8.2] startup +[3.277s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.279s] [ext: isaacsim.storage.native-1.5.1] startup +[3.281s] [ext: omni.physx.tensors-107.3.26] startup +[3.287s] [ext: isaacsim.core.utils-3.5.1] startup +[3.290s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.840s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.842s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.845s] [ext: omni.kit.window.stage-2.6.1] startup +[4.852s] [ext: omni.kit.menu.create-2.0.1] startup +[4.853s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.860s] [ext: omni.kit.scripting-107.3.2] startup +[4.865s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.870s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.870s] [ext: omni.graph.tools-1.79.2] startup +[4.896s] [ext: omni.ui_query-1.1.8] startup +[4.897s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.897s] [ext: omni.graph-1.141.2] startup +[4.946s] [ext: omni.graph.action_core-1.1.7] startup +[4.947s] [ext: omni.kit.ui_test-1.3.7] startup +[4.951s] [ext: omni.kit.browser.core-2.3.13] startup +[4.956s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.960s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.967s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.975s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.986s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.992s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.008s] [ext: omni.graph.action-1.130.0] startup +[5.013s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.019s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.035s] [ext: isaacsim.gui.components-1.2.1] startup +[5.054s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.066s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.186s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.194s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.203s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.300s] [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 +[5.311s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.314s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.320s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.328s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.330s] [ext: omni.graph.image.core-0.6.1] startup +[5.332s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.333s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.336s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.340s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.345s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.348s] [ext: omni.graph.nodes-1.170.10] startup +[5.368s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.375s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.382s] [ext: omni.syntheticdata-0.6.13] startup +[5.431s] [ext: omni.videoencoding-0.1.2] startup +[5.438s] [ext: omni.warp-1.8.2] startup +[5.448s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.482s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.490s] [ext: isaacsim.core.prims-0.6.1] startup +[5.585s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.612s] [ext: omni.replicator.core-1.12.27] startup +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. +[5.961s] [ext: isaacsim.core.api-4.8.0] startup +[6.069s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.217s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.237s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.252s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.264s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.292s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.320s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.378s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.406s] [ext: omni.sensors.net-1.0.0] startup +[6.437s] [ext: isaacsim.app.about-2.0.11] startup +[6.460s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.465s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.515s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.584s] [ext: omni.kit.property.audio-1.0.16] startup +[6.594s] [ext: omni.kit.property.camera-1.0.10] startup +[6.602s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.619s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.637s] [ext: omni.kit.property.light-1.0.12] startup +[6.693s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.698s] [ext: omni.kit.selection-0.1.6] startup +[6.703s] [ext: omni.kit.property.material-1.11.9] startup +[6.815s] [ext: omni.kit.property.transform-1.5.13] startup +[6.870s] [ext: omni.kit.property.render-1.2.1] startup +[6.895s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.916s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.186s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.454s] [ext: isaacsim.gui.property-1.1.3] startup +[7.472s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.482s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.525s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.556s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.605s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.618s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.657s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.681s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.688s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.708s] [ext: omni.kit.window.console-1.1.4] startup +[7.750s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.768s] [ext: omni.ocio-0.1.1] startup +[7.776s] [ext: omni.physx.demos-107.3.26] startup +[7.836s] [ext: omni.kit.property.physx-107.3.26] startup +[7.888s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.920s] [ext: omni.asset_validator.core-1.1.6] startup +[8.027s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.036s] [ext: omni.physx.vehicle-107.3.26] startup +[8.065s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.081s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.090s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.101s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.117s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.124s] [ext: omni.physx.camera-107.3.26] startup +[8.148s] [ext: omni.anim.curve.core-1.3.1] startup +[8.170s] [ext: omni.physx.cct-107.3.26] startup +[8.187s] [ext: omni.physx.graph-107.3.26] startup +[8.210s] [ext: omni.physx.supportui-107.3.26] startup +[8.249s] [ext: omni.physx.telemetry-107.3.26] startup +[8.260s] [ext: isaaclab-0.54.3] startup +[8.586s] [ext: isaaclab_contrib-0.0.2] startup +[8.588s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.591s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.596s] [ext: semantics.schema.property-2.0.1] startup +[8.601s] [ext: omni.physx.bundle-107.3.26] startup +[8.601s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.610s] [ext: isaaclab_assets-0.2.4] startup +[8.918s] [ext: isaaclab_tasks-0.11.14] startup +[9.085s] [ext: omni.kit.menu.common-2.0.1] startup +[9.087s] [ext: isaaclab_rl-0.5.0] startup +[9.090s] [ext: isaaclab_mimic-1.0.16] startup +[9.092s] [ext: isaaclab.python-2.3.2] startup +[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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0218 tracking_error=0.0033 gripper_position=0.3699 secured=True +[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 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1027 tracking_error=0.0066 secured=True +[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 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0103 tracking_error=0.0157 gripper_position=0.1836 secured=True +[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 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1112 tracking_error=0.0011 secured=True +[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 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0002 z=0.0000 yaw_deg=46.99 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0002 z=0.0000 yaw_deg=11.88 +[collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect][auto_swap_T] left_rotate step=47 xy=0.0001 z=0.0000 yaw_deg=0.17 +[collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_align step=60 xy=0.2404 z=0.0003 yaw_deg=0.01 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1493 z=0.0000 yaw_deg=-0.01 +[collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0635 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect][auto_swap_T] left_align step=120 xy=0.0156 z=0.0002 yaw_deg=-0.73 +[collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect][auto_swap_T] left_align step=135 xy=0.0039 z=0.0001 yaw_deg=-0.49 +[collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect][auto_swap_T] left_release step=140 xy=0.0026 z=0.0000 yaw_deg=-0.32 +[collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect][auto_swap_T] left_feedback released center=[0.08340000361204147, -0.19760000705718994, 0.7724999785423279] quat=[0.3508000075817108, -0.0, -0.0, 0.9363999962806702] +[collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.22200000286102295, -0.24789999425411224, 0.7731999754905701] lifted=0.0007 ee_to_object_pos=[0.1492999941110611, -0.00019999999494757503, -0.016499999910593033] +[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 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.15 +[collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0029 z=0.0040 yaw_deg=-0.00 +[collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0005 z=0.0008 yaw_deg=-0.05 +[collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0001 z=0.0040 yaw_deg=-0.43 +[collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect][auto_swap_T] right_feedback released center=[-0.06729999929666519, -0.15489999949932098, 0.7724999785423279] quat=[0.7930999994277954, -0.0, -0.0, 0.6090999841690063] +[collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.083424, -0.197628, 0.7725], 'quat': [0.350834, 0.0, 0.0, 0.936438]}, 't1': {'pos': [-0.067333, -0.154862, 0.7725], 'quat': [0.79308, -2e-06, -2e-06, 0.609118]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed43_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed43_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..ff8495c9c8e162b46128887106f18fb60b6b102a --- /dev/null +++ b/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: ), 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 +[5.542s] [ext: omni.kit.window.stage-2.6.1] startup +[5.548s] [ext: omni.kit.menu.create-2.0.1] startup +[5.550s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.556s] [ext: omni.kit.scripting-107.3.2] startup +[5.562s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.566s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.566s] [ext: omni.graph.tools-1.79.2] startup +[5.589s] [ext: omni.ui_query-1.1.8] startup +[5.589s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.590s] [ext: omni.graph-1.141.2] startup +[5.634s] [ext: omni.graph.action_core-1.1.7] startup +[5.636s] [ext: omni.kit.ui_test-1.3.7] startup +[5.639s] [ext: omni.kit.browser.core-2.3.13] startup +[5.644s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.649s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.653s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.658s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.673s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.677s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.696s] [ext: omni.graph.action-1.130.0] startup +[5.701s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.705s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.713s] [ext: isaacsim.gui.components-1.2.1] startup +[5.721s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.731s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.878s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.901s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.920s] [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( +[6.021s] [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 +[6.034s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.039s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.046s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.050s] [ext: omni.graph.image.core-0.6.1] startup +[6.052s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.053s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.056s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.061s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.063s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.066s] [ext: omni.graph.nodes-1.170.10] startup +[6.077s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.082s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.088s] [ext: omni.syntheticdata-0.6.13] startup +[6.123s] [ext: omni.videoencoding-0.1.2] startup +[6.129s] [ext: omni.warp-1.8.2] startup +[6.139s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.161s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.165s] [ext: isaacsim.core.prims-0.6.1] startup +[6.239s] [ext: isaacsim.test.docstring-1.1.0] startup +[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 +[6.758s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.769s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.778s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.795s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.803s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.814s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.828s] [ext: omni.sensors.net-1.0.0] startup +[6.843s] [ext: isaacsim.app.about-2.0.11] startup +[6.853s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.855s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.865s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.931s] [ext: omni.kit.property.audio-1.0.16] startup +[6.947s] [ext: omni.kit.property.camera-1.0.10] startup +[6.959s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.977s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.992s] [ext: omni.kit.property.light-1.0.12] startup +[7.043s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.048s] [ext: omni.kit.selection-0.1.6] startup +[7.058s] [ext: omni.kit.property.material-1.11.9] startup +[7.117s] [ext: omni.kit.property.transform-1.5.13] startup +[7.135s] [ext: omni.kit.property.render-1.2.1] startup +[7.153s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.162s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.194s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.226s] [ext: isaacsim.gui.property-1.1.3] startup +[7.245s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.251s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.282s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.312s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.360s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.385s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.492s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.519s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.553s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.601s] [ext: omni.kit.window.console-1.1.4] startup +[7.635s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.682s] [ext: omni.ocio-0.1.1] startup +[7.697s] [ext: omni.physx.demos-107.3.26] startup +[8.319s] [ext: omni.kit.property.physx-107.3.26] startup +[8.412s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.481s] [ext: omni.asset_validator.core-1.1.6] startup +[8.651s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.658s] [ext: omni.physx.vehicle-107.3.26] startup +[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 +[8.718s] [ext: omni.physx.camera-107.3.26] startup +[8.731s] [ext: omni.anim.curve.core-1.3.1] startup +[8.757s] [ext: omni.physx.cct-107.3.26] startup +[8.773s] [ext: omni.physx.graph-107.3.26] startup +[8.793s] [ext: omni.physx.supportui-107.3.26] startup +[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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0116 tracking_error=0.0135 gripper_position=0.2857 secured=True +[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 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1148 tracking_error=0.0063 secured=True +[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 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0088 tracking_error=0.0178 gripper_position=0.2238 secured=False +[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 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0121 tracking_error=0.0159 gripper_position=0.2247 secured=True +[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 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1054 tracking_error=0.0030 secured=True +[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 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect][auto_swap_T] left_align step=20 xy=0.1691 z=0.0003 yaw_deg=-0.05 +[collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect][auto_swap_T] left_align step=40 xy=0.0839 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect][auto_swap_T] left_align step=60 xy=0.0069 z=0.0008 yaw_deg=-0.08 +[collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect][auto_swap_T] left_align step=62 xy=0.0021 z=0.0007 yaw_deg=-0.09 +[collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect][auto_swap_T] left_release step=67 xy=0.0004 z=0.0004 yaw_deg=-0.01 +[collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect][auto_swap_T] left_release step=80 xy=0.0004 z=0.0040 yaw_deg=0.09 +[collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect][auto_swap_T] left_feedback released center=[0.04670000076293945, -0.1753000020980835, 0.7724999785423279] quat=[0.6597999930381775, -0.0, -0.0, 0.7513999938964844] +[collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.181099995970726, -0.15569999814033508, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.1492999941110611, -0.00019999999494757503, -0.011800000444054604] +[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 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.01 +[collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0007 z=0.0038 yaw_deg=-0.01 +[collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.01 +[collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0002 z=0.0040 yaw_deg=-0.11 +[collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect][auto_swap_T] right_feedback released center=[-0.056299999356269836, -0.188400000333786, 0.7724999785423279] quat=[0.5309000015258789, -0.0, -0.0, 0.8474000096321106] +[collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.046655, -0.175337, 0.7725], 'quat': [0.659826, -2e-06, -2e-06, 0.751419]}, 't1': {'pos': [-0.056346, -0.188443, 0.7725], 'quat': [0.530875, -1e-06, -1e-06, 0.84745]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed45_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed45_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..02838b39e858a153d7eb371cced1a85e951ab761 --- /dev/null +++ b/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) +[2.215s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.217s] [ext: omni.kit.renderer.imgui-2.0.5] startup +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) +[2.319s] [ext: omni.ui-2.27.1] startup +[2.330s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.331s] [ext: carb.audio-0.1.0] startup +[2.359s] [ext: omni.uiaudio-1.0.0] startup +[2.360s] [ext: omni.kit.uiapp-0.0.0] startup +[2.360s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.363s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.371s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.374s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.378s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.381s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.405s] [ext: omni.usd_resolver-1.0.0] startup +[2.410s] [ext: omni.usd.core-1.5.3] startup +[2.414s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.439s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.448s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.489s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.490s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.490s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.496s] [ext: omni.graph.exec-0.9.6] startup +[2.496s] [ext: omni.kit.actions.core-1.0.0] startup +[2.498s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.499s] [ext: omni.kit.exec.core-0.13.4] startup +[2.501s] [ext: omni.kit.commands-1.4.10] startup +[2.504s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.508s] [ext: omni.activity.core-1.0.3] startup +[2.509s] [ext: omni.resourcemonitor-107.0.1] startup +[2.511s] [ext: omni.timeline-1.0.14] startup +[2.513s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.515s] [ext: usdrt.scenegraph-7.6.1] startup +[2.555s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.556s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.565s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.571s] [ext: omni.usd-1.13.10] startup +[2.599s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.613s] [ext: omni.index.libs-380600.8087.0] startup +[2.613s] [ext: omni.volume-0.5.2] startup +[2.616s] [ext: omni.ujitso.client-0.0.0] startup +[2.616s] [ext: omni.index-1.0.1] startup +[2.617s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.618s] [ext: omni.hydra.rtx-1.0.0] startup +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 +[2.662s] [ext: omni.kit.clipboard-1.0.5] startup +[2.663s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.666s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.673s] [ext: omni.kit.menu.core-1.1.2] startup +[2.674s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.676s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.678s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.679s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.680s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.680s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.685s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.685s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.694s] [ext: omni.ui.scene-1.11.5] startup +[2.699s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.699s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.713s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.721s] [ext: omni.kit.context_menu-1.8.6] startup +[2.722s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.728s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.732s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.735s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.736s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.736s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.741s] [ext: omni.kit.material.library-2.0.7] startup +[2.747s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.750s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.752s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.771s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.776s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.781s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.781s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.785s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.789s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.790s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.792s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.794s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.795s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.796s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.804s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.808s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.808s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.810s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.811s] [ext: omni.fabric.commands-1.1.6] startup +[2.814s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.815s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.816s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.817s] [ext: omni.debugdraw-0.1.4] startup +[2.822s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.833s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.834s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.834s] [ext: omni.kvdb-107.3.26] startup +[2.836s] [ext: omni.convexdecomposition-107.3.26] startup +[2.839s] [ext: omni.physx.foundation-107.3.26] startup +[2.841s] [ext: omni.localcache-107.3.26] startup +[2.842s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.843s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.843s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.844s] [ext: omni.usdphysics-107.3.26] startup +[2.846s] [ext: omni.kit.window.file-2.0.5] startup +[2.851s] [ext: omni.physx.cooking-107.3.26] startup +[2.854s] [ext: omni.physics-107.3.26] startup +[2.858s] [ext: omni.kit.window.property-1.12.1] startup +[2.860s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.872s] [ext: omni.physx-107.3.26] startup +[2.885s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.887s] [ext: omni.kit.property.usd-4.5.12] startup +[2.897s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.898s] [ext: omni.physics.physx-107.3.26] startup +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: ), 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 +[2.901s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.915s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.919s] [ext: omni.inspect-1.0.2] startup +[2.920s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.933s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.935s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.941s] [ext: omni.graph.core-2.184.5] startup +[2.945s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.946s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.975s] [ext: omni.physx.commands-107.3.26] startup +[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 +[3.021s] [ext: isaacsim.core.version-2.0.6] startup +[3.022s] [ext: omni.physics.tensors-107.3.26] startup +[3.027s] [ext: omni.warp.core-1.8.2] startup +[3.232s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.234s] [ext: isaacsim.storage.native-1.5.1] startup +[3.235s] [ext: omni.physx.tensors-107.3.26] startup +[3.243s] [ext: isaacsim.core.utils-3.5.1] startup +[3.246s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.841s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.843s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.846s] [ext: omni.kit.window.stage-2.6.1] startup +[4.853s] [ext: omni.kit.menu.create-2.0.1] startup +[4.855s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.863s] [ext: omni.kit.scripting-107.3.2] startup +[4.867s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.871s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.872s] [ext: omni.graph.tools-1.79.2] startup +[4.897s] [ext: omni.ui_query-1.1.8] startup +[4.898s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.898s] [ext: omni.graph-1.141.2] startup +[4.947s] [ext: omni.graph.action_core-1.1.7] startup +[4.949s] [ext: omni.kit.ui_test-1.3.7] startup +[4.953s] [ext: omni.kit.browser.core-2.3.13] startup +[4.958s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.962s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.968s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.976s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.989s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.993s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.009s] [ext: omni.graph.action-1.130.0] startup +[5.015s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.019s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.027s] [ext: isaacsim.gui.components-1.2.1] startup +[5.032s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.038s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.191s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.195s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.207s] [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( +[5.275s] [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 +[5.287s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.291s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.298s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.302s] [ext: omni.graph.image.core-0.6.1] startup +[5.305s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.305s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.308s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.312s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.315s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.317s] [ext: omni.graph.nodes-1.170.10] startup +[5.328s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.334s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.341s] [ext: omni.syntheticdata-0.6.13] startup +[5.376s] [ext: omni.videoencoding-0.1.2] startup +[5.382s] [ext: omni.warp-1.8.2] startup +[5.390s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.411s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.420s] [ext: isaacsim.core.prims-0.6.1] startup +[5.503s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.524s] [ext: omni.replicator.core-1.12.27] startup +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 +[5.795s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.857s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.881s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.895s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.905s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.923s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.932s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.953s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.964s] [ext: omni.sensors.net-1.0.0] startup +[5.976s] [ext: isaacsim.app.about-2.0.11] startup +[5.985s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.985s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.998s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.009s] [ext: omni.kit.property.audio-1.0.16] startup +[6.017s] [ext: omni.kit.property.camera-1.0.10] startup +[6.028s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.055s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.136s] [ext: omni.kit.property.light-1.0.12] startup +[6.187s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.191s] [ext: omni.kit.selection-0.1.6] startup +[6.206s] [ext: omni.kit.property.material-1.11.9] startup +[6.323s] [ext: omni.kit.property.transform-1.5.13] startup +[6.351s] [ext: omni.kit.property.render-1.2.1] startup +[6.364s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.387s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.446s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.526s] [ext: isaacsim.gui.property-1.1.3] startup +[6.584s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.647s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.786s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.997s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.316s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.361s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.389s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.405s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.413s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.450s] [ext: omni.kit.window.console-1.1.4] startup +[7.468s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.486s] [ext: omni.ocio-0.1.1] startup +[7.495s] [ext: omni.physx.demos-107.3.26] startup +[7.551s] [ext: omni.kit.property.physx-107.3.26] startup +[7.601s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.634s] [ext: omni.asset_validator.core-1.1.6] startup +[7.741s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.751s] [ext: omni.physx.vehicle-107.3.26] startup +[7.780s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.800s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.807s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.817s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.835s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.844s] [ext: omni.physx.camera-107.3.26] startup +[7.871s] [ext: omni.anim.curve.core-1.3.1] startup +[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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0095 tracking_error=0.0155 gripper_position=0.0000 secured=True +[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 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1132 tracking_error=0.0096 secured=True +[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 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0158 tracking_error=0.0097 gripper_position=0.2544 secured=True +[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 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1091 tracking_error=0.0047 secured=True +[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 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0000 z=0.0000 yaw_deg=-52.80 +[collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0001 z=0.0001 yaw_deg=-18.14 +[collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect][auto_swap_T] left_rotate step=51 xy=0.0001 z=0.0001 yaw_deg=-0.13 +[collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect][auto_swap_T] left_align step=60 xy=0.2060 z=0.0003 yaw_deg=-0.00 +[collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1200 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0348 z=0.0001 yaw_deg=-0.03 +[collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect][auto_swap_T] left_align step=120 xy=0.0037 z=0.0001 yaw_deg=-0.50 +[collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect][auto_swap_T] left_release step=125 xy=0.0021 z=0.0000 yaw_deg=-0.26 +[collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect][auto_swap_T] left_release step=132 xy=0.0014 z=0.0040 yaw_deg=-0.41 +[collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect][auto_swap_T] left_feedback released center=[0.04780000075697899, -0.18449999392032623, 0.7724999785423279] quat=[0.8442000150680542, 0.0, -0.0, -0.5360000133514404] +[collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.1996999979019165, -0.17389999330043793, 0.7766000032424927] lifted=0.0041 ee_to_object_pos=[0.15049999952316284, -9.999999747378752e-05, 0.007899999618530273] +[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 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.23 +[collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0002 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.02 +[collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0003 z=0.0040 yaw_deg=-0.26 +[collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect][auto_swap_T] right_feedback released center=[-0.05009999871253967, -0.19789999723434448, 0.7724999785423279] quat=[0.9413999915122986, 0.0, -0.0, 0.33739998936653137] +[collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.047812, -0.18446, 0.7725], 'quat': [0.844209, 0.0, -1e-06, -0.536014]}, 't1': {'pos': [-0.050148, -0.197938, 0.7725], 'quat': [0.941377, 0.0, -0.0, 0.337357]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed46_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed46_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..835f9aeaf644a1de756e86521496b3590f53f2ba --- /dev/null +++ b/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 +[2.749s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.749s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.750s] [ext: omni.usdphysics-107.3.26] startup +[2.752s] [ext: omni.kit.window.file-2.0.5] startup +[2.755s] [ext: omni.physx.cooking-107.3.26] startup +[2.759s] [ext: omni.physics-107.3.26] startup +[2.762s] [ext: omni.kit.window.property-1.12.1] startup +[2.765s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.776s] [ext: omni.physx-107.3.26] startup +[2.787s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.789s] [ext: omni.kit.property.usd-4.5.12] startup +[2.799s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.801s] [ext: omni.physics.physx-107.3.26] startup +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: ), 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 +[2.804s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.817s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.821s] [ext: omni.inspect-1.0.2] startup +[2.822s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.833s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.835s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.842s] [ext: omni.graph.core-2.184.5] startup +[2.845s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.847s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.875s] [ext: omni.physx.commands-107.3.26] startup +[2.879s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[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 +[2.921s] [ext: isaacsim.core.version-2.0.6] startup +[2.921s] [ext: omni.physics.tensors-107.3.26] startup +[2.926s] [ext: omni.warp.core-1.8.2] startup +[3.117s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.119s] [ext: isaacsim.storage.native-1.5.1] startup +[3.121s] [ext: omni.physx.tensors-107.3.26] startup +[3.127s] [ext: isaacsim.core.utils-3.5.1] startup +[3.131s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.696s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.697s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.700s] [ext: omni.kit.window.stage-2.6.1] startup +[4.709s] [ext: omni.kit.menu.create-2.0.1] startup +[4.712s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.719s] [ext: omni.kit.scripting-107.3.2] startup +[4.724s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.728s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.729s] [ext: omni.graph.tools-1.79.2] startup +[4.753s] [ext: omni.ui_query-1.1.8] startup +[4.754s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.755s] [ext: omni.graph-1.141.2] startup +[4.803s] [ext: omni.graph.action_core-1.1.7] startup +[4.805s] [ext: omni.kit.ui_test-1.3.7] startup +[4.809s] [ext: omni.kit.browser.core-2.3.13] startup +[4.814s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.818s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.823s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.832s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.841s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.850s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.870s] [ext: omni.graph.action-1.130.0] startup +[4.874s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.880s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.890s] [ext: isaacsim.gui.components-1.2.1] startup +[4.899s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.913s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.071s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.078s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.088s] [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( +[5.179s] [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 +[5.195s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.200s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.209s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.211s] [ext: omni.graph.image.core-0.6.1] startup +[5.213s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.214s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.217s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.221s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.224s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.227s] [ext: omni.graph.nodes-1.170.10] startup +[5.240s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.245s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.252s] [ext: omni.syntheticdata-0.6.13] startup +[5.289s] [ext: omni.videoencoding-0.1.2] startup +[5.295s] [ext: omni.warp-1.8.2] startup +[5.303s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.325s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.330s] [ext: isaacsim.core.prims-0.6.1] startup +[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 +[5.761s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.788s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.810s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[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 +[5.937s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.964s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.971s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.005s] [ext: omni.kit.property.audio-1.0.16] startup +[6.013s] [ext: omni.kit.property.camera-1.0.10] startup +[6.023s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.038s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.047s] [ext: omni.kit.property.light-1.0.12] startup +[6.147s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.151s] [ext: omni.kit.selection-0.1.6] startup +[6.154s] [ext: omni.kit.property.material-1.11.9] startup +[6.199s] [ext: omni.kit.property.transform-1.5.13] startup +[6.212s] [ext: omni.kit.property.render-1.2.1] startup +[6.220s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.233s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.262s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.283s] [ext: isaacsim.gui.property-1.1.3] startup +[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 +[6.939s] [ext: omni.asset_validator.core-1.1.6] startup +[7.469s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.498s] [ext: omni.physx.vehicle-107.3.26] startup +[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 +[7.670s] [ext: omni.physx.camera-107.3.26] startup +[7.698s] [ext: omni.anim.curve.core-1.3.1] startup +[7.743s] [ext: omni.physx.cct-107.3.26] startup +[7.781s] [ext: omni.physx.graph-107.3.26] startup +[7.818s] [ext: omni.physx.supportui-107.3.26] startup +[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 (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 (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 (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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0156 tracking_error=0.0101 gripper_position=0.0724 secured=True +[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 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1040 tracking_error=0.0045 secured=True +[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 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0168 tracking_error=0.0092 gripper_position=0.2512 secured=True +[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 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1080 tracking_error=0.0045 secured=True +[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 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0006 z=0.0001 yaw_deg=80.86 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0006 z=0.0000 yaw_deg=45.82 +[collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0005 z=0.0000 yaw_deg=10.81 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect][auto_swap_T] left_rotate step=66 xy=0.0005 z=0.0000 yaw_deg=0.31 +[collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1928 z=0.0003 yaw_deg=-0.02 +[collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect][auto_swap_T] left_align step=100 xy=0.1079 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect][auto_swap_T] left_align step=120 xy=0.0453 z=0.0002 yaw_deg=-0.58 +[collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect][auto_swap_T] left_align step=140 xy=0.0206 z=0.0005 yaw_deg=-0.65 +[collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect][auto_swap_T] left_align step=156 xy=0.0040 z=0.0002 yaw_deg=-0.46 +[collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect][auto_swap_T] left_align step=160 xy=0.0025 z=0.0001 yaw_deg=-0.29 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect][auto_swap_T] left_release step=161 xy=0.0022 z=0.0001 yaw_deg=-0.26 +[collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect][auto_swap_T] left_feedback released center=[0.08290000259876251, -0.15960000455379486, 0.7724999785423279] quat=[0.8238999843597412, -0.0, 0.0, -0.5667999982833862] +[collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.27070000767707825, -0.15109999477863312, 0.7732999920845032] lifted=0.0008 ee_to_object_pos=[0.15049999952316284, -0.0, 0.009499999694526196] +[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 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.17 +[collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0030 z=0.0039 yaw_deg=-0.01 +[collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0008 z=0.0011 yaw_deg=-0.07 +[collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0005 z=0.0040 yaw_deg=-0.26 +[collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect][auto_swap_T] right_feedback released center=[-0.029899999499320984, -0.18330000340938568, 0.7724999785423279] quat=[-0.12240000069141388, -0.0, 0.0, 0.9925000071525574] +[collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.082946, -0.159649, 0.7725], 'quat': [0.823857, -1e-06, 1e-06, -0.566798]}, 't1': {'pos': [-0.029854, -0.183316, 0.7725], 'quat': [-0.122396, 0.0, 0.0, 0.992481]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed4_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed4_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..7e96eca041823b1306cb0bded84da37e9ed2e8df --- /dev/null +++ b/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: ), 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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0191 tracking_error=0.0079 gripper_position=0.0379 secured=True +[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 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1009 tracking_error=0.0062 secured=True +[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 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0125 tracking_error=0.0167 gripper_position=0.1609 secured=True +[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 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1101 tracking_error=0.0001 secured=True +[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 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0005 z=0.0001 yaw_deg=47.43 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0005 z=0.0001 yaw_deg=12.28 +[collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect][auto_swap_T] left_rotate step=47 xy=0.0004 z=0.0001 yaw_deg=0.20 +[collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_align step=60 xy=0.2418 z=0.0003 yaw_deg=-0.05 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1560 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0706 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect][auto_swap_T] left_align step=120 xy=0.0066 z=0.0003 yaw_deg=-0.55 +[collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect][auto_swap_T] left_align step=122 xy=0.0038 z=0.0003 yaw_deg=-0.43 +[collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect][auto_swap_T] left_release step=127 xy=0.0008 z=0.0000 yaw_deg=-0.10 +[collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect][auto_swap_T] left_release step=140 xy=0.0006 z=0.0040 yaw_deg=-0.79 +[collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect][auto_swap_T] left_feedback released center=[0.08460000157356262, -0.1906999945640564, 0.7724999785423279] quat=[0.8192999958992004, 0.0, 0.0, 0.5733000040054321] +[collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.22030000388622284, -0.19529999792575836, 0.7742999792098999] lifted=0.0018 ee_to_object_pos=[0.14970000088214874, -0.0, -0.008999999612569809] +[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 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.01 +[collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0006 z=0.0040 yaw_deg=-0.00 +[collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.02 +[collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0003 z=0.0040 yaw_deg=-0.10 +[collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect][auto_swap_T] right_feedback released center=[-0.07190000265836716, -0.18250000476837158, 0.7724999785423279] quat=[0.9983000159263611, 0.0, -0.0, 0.05770000070333481] +[collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.084554, -0.190712, 0.7725], 'quat': [0.819348, 1e-06, 0.0, 0.573297]}, 't1': {'pos': [-0.071911, -0.182499, 0.7725], 'quat': [0.998333, -1e-06, -0.0, 0.057709]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_calv8_seed53_official400.log b/yzr/swap_T/logs/swap_T_calv8_seed53_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..82ca5008dd88b048ccd77035fcc72762839c986e --- /dev/null +++ b/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 +[2.512s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.516s] [ext: omni.activity.core-1.0.3] startup +[2.518s] [ext: omni.resourcemonitor-107.0.1] startup +[2.520s] [ext: omni.timeline-1.0.14] startup +[2.522s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.524s] [ext: usdrt.scenegraph-7.6.1] startup +[2.564s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.566s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.574s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.581s] [ext: omni.usd-1.13.10] startup +[2.609s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.625s] [ext: omni.index.libs-380600.8087.0] startup +[2.625s] [ext: omni.volume-0.5.2] startup +[2.628s] [ext: omni.ujitso.client-0.0.0] startup +[2.628s] [ext: omni.index-1.0.1] startup +[2.629s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.630s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T21:15:21Z [2,625ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.671s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.673s] [ext: omni.kit.clipboard-1.0.5] startup +[2.674s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.677s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.684s] [ext: omni.kit.menu.core-1.1.2] startup +[2.685s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.688s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.689s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.690s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.691s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.692s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.696s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.697s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.711s] [ext: omni.ui.scene-1.11.5] startup +[2.718s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.718s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.733s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.740s] [ext: omni.kit.context_menu-1.8.6] startup +[2.742s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.748s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.752s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.754s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.755s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.756s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.760s] [ext: omni.kit.material.library-2.0.7] startup +[2.764s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.768s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.770s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.785s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.790s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.795s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.796s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.800s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.804s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.805s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.807s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.809s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.809s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.810s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.817s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.820s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.821s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.823s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.824s] [ext: omni.fabric.commands-1.1.6] startup +[2.827s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.828s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.830s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.832s] [ext: omni.debugdraw-0.1.4] startup +[2.843s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.857s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.858s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.858s] [ext: omni.kvdb-107.3.26] startup +[2.860s] [ext: omni.convexdecomposition-107.3.26] startup +[2.863s] [ext: omni.physx.foundation-107.3.26] startup +[2.865s] [ext: omni.localcache-107.3.26] startup +[2.867s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.867s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.868s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.869s] [ext: omni.usdphysics-107.3.26] startup +[2.871s] [ext: omni.kit.window.file-2.0.5] startup +[2.874s] [ext: omni.physx.cooking-107.3.26] startup +[2.878s] [ext: omni.physics-107.3.26] startup +[2.881s] [ext: omni.kit.window.property-1.12.1] startup +[2.884s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.897s] [ext: omni.physx-107.3.26] startup +[2.908s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.911s] [ext: omni.kit.property.usd-4.5.12] startup +[2.922s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.924s] [ext: omni.physics.physx-107.3.26] startup +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: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.927s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.928s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.942s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.946s] [ext: omni.inspect-1.0.2] startup +[2.948s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.959s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.960s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.969s] [ext: omni.graph.core-2.184.5] startup +[2.972s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.974s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.002s] [ext: omni.physx.commands-107.3.26] startup +[3.006s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.007s] [ext: omni.isaac.dynamic_control-2.0.7] startup +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. +[3.014s] [ext: omni.physx.ui-107.3.26] startup +[3.049s] [ext: isaacsim.core.version-2.0.6] startup +[3.050s] [ext: omni.physics.tensors-107.3.26] startup +[3.055s] [ext: omni.warp.core-1.8.2] startup +[3.257s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.259s] [ext: isaacsim.storage.native-1.5.1] startup +[3.261s] [ext: omni.physx.tensors-107.3.26] startup +[3.268s] [ext: isaacsim.core.utils-3.5.1] startup +[3.271s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.793s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.797s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.799s] [ext: omni.kit.window.stage-2.6.1] startup +[4.804s] [ext: omni.kit.menu.create-2.0.1] startup +[4.805s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.812s] [ext: omni.kit.scripting-107.3.2] startup +[4.816s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.820s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.821s] [ext: omni.graph.tools-1.79.2] startup +[4.846s] [ext: omni.ui_query-1.1.8] startup +[4.847s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.847s] [ext: omni.graph-1.141.2] startup +[4.890s] [ext: omni.graph.action_core-1.1.7] startup +[4.892s] [ext: omni.kit.ui_test-1.3.7] startup +[4.897s] [ext: omni.kit.browser.core-2.3.13] startup +[4.904s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.911s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.915s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.921s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.935s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.941s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.956s] [ext: omni.graph.action-1.130.0] startup +[4.962s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.968s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.975s] [ext: isaacsim.gui.components-1.2.1] startup +[4.985s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.994s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.137s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.148s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.162s] [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( +[5.307s] [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 +[5.320s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.323s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.330s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.335s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.339s] [ext: omni.graph.image.core-0.6.1] startup +[5.341s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.342s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.345s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.349s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.352s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.354s] [ext: omni.graph.nodes-1.170.10] startup +[5.367s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.373s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.379s] [ext: omni.syntheticdata-0.6.13] startup +[5.415s] [ext: omni.videoencoding-0.1.2] startup +[5.421s] [ext: omni.warp-1.8.2] startup +[5.430s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.457s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.471s] [ext: isaacsim.core.prims-0.6.1] startup +[5.510s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.521s] [ext: omni.replicator.core-1.12.27] startup +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. +[5.734s] [ext: isaacsim.core.api-4.8.0] startup +[5.854s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.979s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.000s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.014s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.026s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.048s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.061s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.080s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.101s] [ext: omni.sensors.net-1.0.0] startup +[6.116s] [ext: isaacsim.app.about-2.0.11] startup +[6.126s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.128s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.135s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.154s] [ext: omni.kit.property.audio-1.0.16] startup +[6.170s] [ext: omni.kit.property.camera-1.0.10] startup +[6.219s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.248s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.279s] [ext: omni.kit.property.light-1.0.12] startup +[6.330s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.344s] [ext: omni.kit.selection-0.1.6] startup +[6.382s] [ext: omni.kit.property.material-1.11.9] startup +[6.479s] [ext: omni.kit.property.transform-1.5.13] startup +[6.591s] [ext: omni.kit.property.render-1.2.1] startup +[6.654s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.681s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.935s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.156s] [ext: isaacsim.gui.property-1.1.3] startup +[7.174s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.184s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.233s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.284s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.330s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.355s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.374s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.383s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.387s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.414s] [ext: omni.kit.window.console-1.1.4] startup +[7.426s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.440s] [ext: omni.ocio-0.1.1] startup +[7.446s] [ext: omni.physx.demos-107.3.26] startup +[7.495s] [ext: omni.kit.property.physx-107.3.26] startup +[7.544s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.576s] [ext: omni.asset_validator.core-1.1.6] startup +[7.683s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.692s] [ext: omni.physx.vehicle-107.3.26] startup +[7.719s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.733s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.739s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.747s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.760s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.769s] [ext: omni.physx.camera-107.3.26] startup +[7.781s] [ext: omni.anim.curve.core-1.3.1] startup +[7.804s] [ext: omni.physx.cct-107.3.26] startup +[7.820s] [ext: omni.physx.graph-107.3.26] startup +[7.843s] [ext: omni.physx.supportui-107.3.26] startup +[7.871s] [ext: omni.physx.telemetry-107.3.26] startup +[7.881s] [ext: isaaclab-0.54.3] startup +[8.287s] [ext: isaaclab_contrib-0.0.2] startup +[8.290s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.293s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.298s] [ext: semantics.schema.property-2.0.1] startup +[8.302s] [ext: omni.physx.bundle-107.3.26] startup +[8.306s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.312s] [ext: isaaclab_assets-0.2.4] startup +[8.620s] [ext: isaaclab_tasks-0.11.14] startup +[8.792s] [ext: omni.kit.menu.common-2.0.1] startup +[8.795s] [ext: isaaclab_rl-0.5.0] startup +[8.797s] [ext: isaaclab_mimic-1.0.16] startup +[8.798s] [ext: isaaclab.python-2.3.2] startup +[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: + 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0177 tracking_error=0.0074 gripper_position=0.0939 secured=True +[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 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1015 tracking_error=0.0032 secured=True +[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 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0102 tracking_error=0.0155 gripper_position=0.1834 secured=True +[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 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1110 tracking_error=0.0010 secured=True +[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][auto_swap_T] left_rotate step=2 xy=0.0003 z=0.0000 yaw_deg=-0.27 +[collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect][auto_swap_T] left_align step=20 xy=0.1725 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect][auto_swap_T] left_align step=40 xy=0.0861 z=0.0002 yaw_deg=-0.03 +[collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect][auto_swap_T] left_align step=60 xy=0.0133 z=0.0000 yaw_deg=-0.57 +[collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect][auto_swap_T] left_align step=71 xy=0.0039 z=0.0000 yaw_deg=-0.53 +[collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect][auto_swap_T] left_release step=76 xy=0.0023 z=0.0001 yaw_deg=-0.31 +[collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect][auto_swap_T] left_release step=80 xy=0.0017 z=0.0002 yaw_deg=-1.11 +[collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect][auto_swap_T] left_feedback released center=[0.05380000174045563, -0.19370000064373016, 0.7724999785423279] quat=[0.31220000982284546, -0.0, -0.0, 0.949999988079071] +[collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.188400000333786, -0.2363000065088272, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.14949999749660492, -9.999999747378752e-05, -0.016499999910593033] +[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 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.04 +[collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0002 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=0.02 +[collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.08 +[collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect][auto_swap_T] right_feedback released center=[-0.06030000001192093, -0.16130000352859497, 0.7724999785423279] quat=[0.15000000596046448, 0.0, 0.0, 0.9886999726295471] +[collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.053844, -0.193659, 0.7725], 'quat': [0.31224, -1e-06, -0.0, 0.950003]}, 't1': {'pos': [-0.060295, -0.161332, 0.7725], 'quat': [0.150017, 0.0, 1e-06, 0.988683]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[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 diff --git a/yzr/swap_T/logs/swap_T_finalv4_seed14_official400.log b/yzr/swap_T/logs/swap_T_finalv4_seed14_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..6ff2dd148b538d87ea271edba351d1539bb0831f --- /dev/null +++ b/yzr/swap_T/logs/swap_T_finalv4_seed14_official400.log @@ -0,0 +1,810 @@ +[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_033859.log +[0.112s] [ext: omni.kit.async_engine-0.0.3] startup +[0.256s] [ext: omni.metrics.core-0.0.3] startup +[0.257s] [ext: omni.client.lib-1.1.0] startup +[0.271s] [ext: omni.blobkey-1.1.2] startup +[0.271s] [ext: omni.stats-1.0.1] startup +[0.272s] [ext: omni.datastore-0.0.0] startup +[0.278s] [ext: omni.client-1.3.0] startup +[0.283s] [ext: omni.ujitso.default-1.0.0] startup +[0.285s] [ext: omni.hsscclient-1.1.2] startup +[0.308s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.310s] [ext: omni.assets.plugins-0.0.0] startup +[0.311s] [ext: omni.gpu_foundation-0.0.0] startup +[0.319s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T19:38:59Z [243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:38:59Z [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) +[0.320s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T19:38:59Z [394ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T19:38:59Z [395ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T19:38:59Z [395ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T19:38:59Z [395ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T19:39:00Z [450ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3935.59 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once). +- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan). +Driver caches will be re-generated which may take a few minutes on the next launch. +2026-07-23T19:39:01Z [2,151ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:39:01Z [2,151ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:39:01Z [2,160ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:39:01Z [2,160ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:39:01Z [2,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:39:01Z [2,162ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:39:01Z [2,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:39:01Z [2,162ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:39:01Z [2,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:39:01Z [2,162ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:39:01Z [2,162ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:39:01Z [2,162ms] [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: 4848 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.679s] [ext: omni.materialx.libs-1.0.7] startup +[3.700s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.702s] [ext: omni.kit.test-2.0.1] startup +[3.771s] [ext: omni.kit.pipapi-0.0.0] startup +[3.772s] [ext: omni.usd.config-1.0.6] startup +[3.775s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.776s] [ext: omni.usd.libs-1.0.1] startup +[3.900s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.901s] [ext: omni.mdl-56.0.3] startup +[3.923s] [ext: omni.iray.libs-0.0.0] startup +[3.929s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.931s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.036s] [ext: omni.kit.telemetry-0.5.2] startup +[4.092s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T19:39:03Z [4,017ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:39:03Z [4,017ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.096s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T19:39:03Z [4,045ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:39:03Z [4,045ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T19:39:03Z [4,062ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:39:03Z [4,062ms] [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) +[4.140s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.143s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T19:39:03Z [4,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:39:03Z [4,071ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T19:39:03Z [4,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:39:03Z [4,073ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T19:39:03Z [4,074ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:39:03Z [4,074ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.289s] [ext: omni.ui-2.27.1] startup +[4.300s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.301s] [ext: carb.audio-0.1.0] startup +[4.333s] [ext: omni.uiaudio-1.0.0] startup +[4.334s] [ext: omni.kit.uiapp-0.0.0] startup +[4.334s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.337s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.346s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.349s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.353s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.356s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.384s] [ext: omni.usd_resolver-1.0.0] startup +[4.388s] [ext: omni.usd.core-1.5.3] startup +[4.392s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.416s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.427s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.462s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.463s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.464s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.469s] [ext: omni.graph.exec-0.9.6] startup +[4.469s] [ext: omni.kit.actions.core-1.0.0] startup +[4.472s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.472s] [ext: omni.kit.exec.core-0.13.4] startup +[4.474s] [ext: omni.kit.commands-1.4.10] startup +[4.477s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.481s] [ext: omni.activity.core-1.0.3] startup +[4.482s] [ext: omni.resourcemonitor-107.0.1] startup +[4.484s] [ext: omni.timeline-1.0.14] startup +[4.486s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.488s] [ext: usdrt.scenegraph-7.6.1] startup +[4.528s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.529s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.537s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.543s] [ext: omni.usd-1.13.10] startup +[4.571s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.585s] [ext: omni.index.libs-380600.8087.0] startup +[4.585s] [ext: omni.volume-0.5.2] startup +[4.588s] [ext: omni.ujitso.client-0.0.0] startup +[4.588s] [ext: omni.index-1.0.1] startup +[4.589s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.590s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T19:39:04Z [4,535ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.632s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.634s] [ext: omni.kit.clipboard-1.0.5] startup +[4.635s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.638s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.645s] [ext: omni.kit.menu.core-1.1.2] startup +[4.645s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.648s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.650s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.651s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.652s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.653s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.657s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.658s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.667s] [ext: omni.ui.scene-1.11.5] startup +[4.672s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.673s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.687s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.695s] [ext: omni.kit.context_menu-1.8.6] startup +[4.697s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.703s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.707s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.709s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.710s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.711s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.715s] [ext: omni.kit.material.library-2.0.7] startup +[4.720s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.723s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.729s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.752s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.758s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.765s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.766s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.772s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.777s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.779s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.782s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.784s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.785s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.787s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.803s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.808s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.809s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.813s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.815s] [ext: omni.fabric.commands-1.1.6] startup +[4.820s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.822s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.824s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.825s] [ext: omni.debugdraw-0.1.4] startup +[4.832s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.848s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.849s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.849s] [ext: omni.kvdb-107.3.26] startup +[4.851s] [ext: omni.convexdecomposition-107.3.26] startup +[4.856s] [ext: omni.physx.foundation-107.3.26] startup +[4.858s] [ext: omni.localcache-107.3.26] startup +[4.860s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.861s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.862s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.862s] [ext: omni.usdphysics-107.3.26] startup +[4.866s] [ext: omni.kit.window.file-2.0.5] startup +[4.870s] [ext: omni.physx.cooking-107.3.26] startup +[4.875s] [ext: omni.physics-107.3.26] startup +[4.880s] [ext: omni.kit.window.property-1.12.1] startup +[4.884s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.903s] [ext: omni.physx-107.3.26] startup +[4.919s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.922s] [ext: omni.kit.property.usd-4.5.12] startup +[4.937s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.938s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T19:39:04Z [4,865ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[4.941s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.942s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.962s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.968s] [ext: omni.inspect-1.0.2] startup +[4.971s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.986s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.987s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.997s] [ext: omni.graph.core-2.184.5] startup +[5.002s] [ext: omni.kit.numpy.common-0.1.3] startup +[5.004s] [ext: omni.usdphysics.ui-107.3.26] startup +[5.034s] [ext: omni.physx.commands-107.3.26] startup +[5.039s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[5.040s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T19:39:04Z [4,972ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[5.048s] [ext: omni.physx.ui-107.3.26] startup +[5.090s] [ext: isaacsim.core.version-2.0.6] startup +[5.091s] [ext: omni.physics.tensors-107.3.26] startup +[5.096s] [ext: omni.warp.core-1.8.2] startup +[5.306s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.310s] [ext: isaacsim.storage.native-1.5.1] startup +[5.312s] [ext: omni.physx.tensors-107.3.26] startup +[5.318s] [ext: isaacsim.core.utils-3.5.1] startup +[5.321s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.834s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.835s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.837s] [ext: omni.kit.window.stage-2.6.1] startup +[6.842s] [ext: omni.kit.menu.create-2.0.1] startup +[6.843s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.849s] [ext: omni.kit.scripting-107.3.2] startup +[6.853s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.857s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.857s] [ext: omni.graph.tools-1.79.2] startup +[6.881s] [ext: omni.ui_query-1.1.8] startup +[6.882s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.882s] [ext: omni.graph-1.141.2] startup +[6.928s] [ext: omni.graph.action_core-1.1.7] startup +[6.929s] [ext: omni.kit.ui_test-1.3.7] startup +[6.933s] [ext: omni.kit.browser.core-2.3.13] startup +[6.938s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.944s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.948s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.953s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.968s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.976s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.993s] [ext: omni.graph.action-1.130.0] startup +[7.001s] [ext: omni.kit.tool.collect-2.2.18] startup +[7.006s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[7.017s] [ext: isaacsim.gui.components-1.2.1] startup +[7.027s] [ext: isaacsim.examples.browser-0.2.1] startup +[7.043s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[7.227s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.234s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.245s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.326s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T19:39:06Z [7,259ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.338s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.340s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.347s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.354s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.356s] [ext: omni.graph.image.core-0.6.1] startup +[7.359s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.360s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.363s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.368s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.371s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.373s] [ext: omni.graph.nodes-1.170.10] startup +[7.384s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.391s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.399s] [ext: omni.syntheticdata-0.6.13] startup +[7.431s] [ext: omni.videoencoding-0.1.2] startup +[7.438s] [ext: omni.warp-1.8.2] startup +[7.451s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.471s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.480s] [ext: isaacsim.core.prims-0.6.1] startup +[7.540s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.552s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T19:39:07Z [7,774ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T19:39:07Z [7,774ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T19:39:07Z [7,775ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.855s] [ext: isaacsim.core.api-4.8.0] startup +[7.877s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.935s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.951s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.965s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.974s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.993s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[8.003s] [ext: isaacsim.sensors.physx-2.3.2] startup +[8.015s] [ext: omni.sensors.nv.materials-2.0.0] startup +[8.026s] [ext: omni.sensors.net-1.0.0] startup +[8.033s] [ext: isaacsim.app.about-2.0.11] startup +[8.051s] [ext: isaacsim.simulation_app-2.12.2] startup +[8.054s] [ext: omni.sensors.nv.ids-2.0.0] startup +[8.073s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[8.091s] [ext: omni.kit.property.audio-1.0.16] startup +[8.105s] [ext: omni.kit.property.camera-1.0.10] startup +[8.121s] [ext: omni.kit.property.geometry-2.0.4] startup +[8.136s] [ext: omni.hydra.scene_api-0.1.2] startup +[8.267s] [ext: omni.kit.property.light-1.0.12] startup +[8.315s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.323s] [ext: omni.kit.selection-0.1.6] startup +[8.342s] [ext: omni.kit.property.material-1.11.9] startup +[8.638s] [ext: omni.kit.property.transform-1.5.13] startup +[8.813s] [ext: omni.kit.property.render-1.2.1] startup +[8.888s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.940s] [ext: isaacsim.gui.menu-2.4.4] startup +[9.053s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[9.097s] [ext: isaacsim.gui.property-1.1.3] startup +[9.109s] [ext: omni.kit.property.bundle-1.4.1] startup +[9.120s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[9.159s] [ext: isaacsim.sensors.physics-0.4.3] startup +[9.187s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[9.272s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[9.299s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[9.316s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[9.327s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[9.333s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.361s] [ext: omni.kit.window.console-1.1.4] startup +[9.378s] [ext: omni.rtx.window.settings-0.6.19] startup +[9.394s] [ext: omni.ocio-0.1.1] startup +[9.402s] [ext: omni.physx.demos-107.3.26] startup +[9.451s] [ext: omni.kit.property.physx-107.3.26] startup +[9.500s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.533s] [ext: omni.asset_validator.core-1.1.6] startup +[9.639s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.649s] [ext: omni.physx.vehicle-107.3.26] startup +[9.685s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.703s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.709s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.719s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.735s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.743s] [ext: omni.physx.camera-107.3.26] startup +[9.758s] [ext: omni.anim.curve.core-1.3.1] startup +[9.781s] [ext: omni.physx.cct-107.3.26] startup +[9.800s] [ext: omni.physx.graph-107.3.26] startup +[9.832s] [ext: omni.physx.supportui-107.3.26] startup +[9.863s] [ext: omni.physx.telemetry-107.3.26] startup +[9.877s] [ext: isaaclab-0.54.3] startup +[10.249s] [ext: isaaclab_contrib-0.0.2] startup +[10.252s] [ext: isaacsim.core.throttling-2.2.2] startup +[10.255s] [ext: omni.kit.ui.actions-1.0.5] startup +[10.261s] [ext: semantics.schema.property-2.0.1] startup +[10.264s] [ext: omni.physx.bundle-107.3.26] startup +[10.267s] [ext: isaacsim.sensors.camera-1.3.6] startup +[10.272s] [ext: isaaclab_assets-0.2.4] startup +[10.594s] [ext: isaaclab_tasks-0.11.14] startup +[10.769s] [ext: omni.kit.menu.common-2.0.1] startup +[10.772s] [ext: isaaclab_rl-0.5.0] startup +[10.776s] [ext: isaaclab_mimic-1.0.16] startup +[10.778s] [ext: isaaclab.python-2.3.2] startup +[10.782s] Simulation App Starting +2026-07-23T19:39:10Z [10,794ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T19:39:10Z [10,799ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T19:39:10Z [10,799ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T19:39:10Z [10,799ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T19:39:10Z [10,832ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[10.939s] app ready +2026-07-23T19:39:11Z [11,895ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T19:39:11Z [11,895ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T19:39:11Z [11,895ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T19:39:11Z [11,895ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[16.488s] 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=14 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=14 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_03-39-36.log +====================================================================================== + +03:39:36 [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 : 14 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T19:39:37Z [37,580ms] [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 +2026-07-23T19:39:37Z [37,683ms] [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. +2026-07-23T19:39:37Z [37,701ms] [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. +2026-07-23T19:39:37Z [37,713ms] [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 : 0.479077 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T19:39:37Z [37,729ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +2026-07-23T19:39:37Z [37,736ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +2026-07-23T19:39:37Z [38,319ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +2026-07-23T19:39:37Z [38,320ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +2026-07-23T19:39:37Z [38,322ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +2026-07-23T19:39:37Z [38,323ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +2026-07-23T19:39:37Z [38,323ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +2026-07-23T19:39:37Z [38,323ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5626c4cbba70:World0.usd@ <0x5626c4cbca70>) + +[INFO]: Time taken for simulation start : 0.828297 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T19:39:46Z [47,279ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T19:39:50Z [50,890ms] [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 +2026-07-23T19:39:50Z [50,890ms] [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 +2026-07-23T19:39:50Z [50,890ms] [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 +2026-07-23T19:39:50Z [50,890ms] [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 +2026-07-23T19:39:58Z [59,144ms] [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=14 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.059918999671936035, -0.17085300385951996, 0.7724999785423279], 'quat': [0.9671509861946106, 9.999999974752427e-07, 9.999999974752427e-07, -0.2542020082473755]}, 't1': {'center': [0.07702899724245071, -0.1764959990978241, 0.7724999785423279], 'quat': [0.7784370183944702, 0.0, -0.0, -0.6277220249176025]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.05990000069141388, -0.17090000212192535, 0.7724999785423279] pick_tcp=[-0.05119999870657921, -0.17579999566078186, 0.7724999785423279] waypoints=40 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0120 tracking_error=0.0193 gripper_position=0.2136 secured=True +[collect][auto_swap_T] left_stage observed=[-0.06750000268220901, -0.1615000069141388, 0.7736999988555908] target=[-0.17980000376701355, -0.16590000689029694, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1147 tracking_error=0.0024 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.18199999630451202, -0.16689999401569366, 0.7736999988555908] lifted=0.0012 ee_to_object_pos=[0.14980000257492065, 0.00039999998989515007, -0.010400000028312206] +[collect][auto_swap_T] right_pick label=t1 center=[0.07699999958276749, -0.17649999260902405, 0.7724999785423279] pick_tcp=[0.07909999787807465, -0.18629999458789825, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0118 tracking_error=0.0136 gripper_position=0.2836 secured=True +[collect][auto_swap_T] right_stage observed=[0.08869999647140503, -0.17489999532699585, 0.7734000086784363] target=[0.19689999520778656, -0.18140000104904175, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1143 tracking_error=0.0060 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.2029000073671341, -0.18060000240802765, 0.7734000086784363] lifted=0.0009 ee_to_object_pos=[0.1501999944448471, 0.000699999975040555, 0.008100000210106373] +[collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect][auto_swap_T] left_rotate step=10 xy=0.0002 z=0.0001 yaw_deg=-0.18 +[collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect][auto_swap_T] left_align step=20 xy=0.2381 z=0.0003 yaw_deg=0.01 +[collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect][auto_swap_T] left_align step=40 xy=0.1524 z=0.0002 yaw_deg=-0.04 +[collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect][auto_swap_T] left_align step=60 xy=0.0673 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect][auto_swap_T] left_align step=80 xy=0.0050 z=0.0003 yaw_deg=-0.57 +[collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect][auto_swap_T] left_align step=82 xy=0.0040 z=0.0002 yaw_deg=-0.48 +[collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect][auto_swap_T] left_release step=87 xy=0.0023 z=0.0002 yaw_deg=-0.29 +[collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect][auto_swap_T] left_release step=96 xy=0.0017 z=0.0040 yaw_deg=-0.54 +[collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect][auto_swap_T] left_release step=100 xy=0.0022 z=0.0040 yaw_deg=-0.21 +[collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect][auto_swap_T] left_feedback released center=[0.07490000128746033, -0.17630000412464142, 0.7724999785423279] quat=[0.7796000242233276, -0.0, 0.0, -0.6262999773025513] +[collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.2264000028371811, -0.17710000276565552, 0.7781000137329102] lifted=0.0056 ee_to_object_pos=[0.15309999883174896, -0.00019999999494757503, 0.007400000002235174] +[collect][auto_swap_T] right_detour obstacle=[0.07699999958276749, -0.17649999260902405, 0.7724999785423279] waypoint=[0.08370000123977661, -0.014600000344216824, 0.7781000137329102] clearance=0.1621 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.05990000069141388, -0.17090000212192535, 0.7724999785423279] waypoints=49 +[collect][auto_swap_T] phase=right_place waypoints=49 +[collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.12 +[collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0006 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0003 z=0.0005 yaw_deg=0.00 +[collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.16 +[collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect][auto_swap_T] right_feedback released center=[-0.059700001031160355, -0.1712000072002411, 0.7724999785423279] quat=[0.9674999713897705, -0.0, 0.0, -0.25279998779296875] +[collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.074879, -0.17629, 0.7725], 'quat': [0.779561, -2e-06, 2e-06, -0.626326]}, 't1': {'pos': [-0.059732, -0.171163, 0.7725], 'quat': [0.967507, 1e-06, -1e-06, -0.252846]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_finalv4_seed14_official400.hdf5 +2026-07-23T19:41:46Z [166,937ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:41:46Z [166,937ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[167.479s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_finalv6_seed10_official400.log b/yzr/swap_T/logs/swap_T_finalv6_seed10_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..652b6d34b631609d023e84979719d7c75b85e55e --- /dev/null +++ b/yzr/swap_T/logs/swap_T_finalv6_seed10_official400.log @@ -0,0 +1,835 @@ +[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_040000.log +[0.067s] [ext: omni.kit.async_engine-0.0.3] startup +[0.207s] [ext: omni.metrics.core-0.0.3] startup +[0.207s] [ext: omni.client.lib-1.1.0] startup +[0.222s] [ext: omni.blobkey-1.1.2] startup +[0.222s] [ext: omni.stats-1.0.1] startup +[0.223s] [ext: omni.datastore-0.0.0] startup +[0.230s] [ext: omni.client-1.3.0] startup +[0.235s] [ext: omni.ujitso.default-1.0.0] startup +[0.237s] [ext: omni.hsscclient-1.1.2] startup +[0.259s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.261s] [ext: omni.assets.plugins-0.0.0] startup +[0.262s] [ext: omni.gpu_foundation-0.0.0] startup +[0.269s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T20:00:00Z [243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:00:00Z [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) +[0.271s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T20:00:01Z [330ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T20:00:01Z [332ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T20:00:01Z [332ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T20:00:01Z [332ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T20:00:01Z [370ms] [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. +2026-07-23T20:00:01Z [860ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:00:01Z [860ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:00:01Z [861ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:00:01Z [861ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:00:01Z [862ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:00:01Z [862ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:00:01Z [862ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:00:01Z [862ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:00:01Z [862ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:00:01Z [862ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:00:01Z [862ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:00:01Z [862ms] [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: 27813 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.626s] [ext: omni.materialx.libs-1.0.7] startup +[1.634s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.635s] [ext: omni.kit.test-2.0.1] startup +[1.678s] [ext: omni.kit.pipapi-0.0.0] startup +[1.679s] [ext: omni.usd.config-1.0.6] startup +[1.682s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.682s] [ext: omni.usd.libs-1.0.1] startup +[1.793s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.793s] [ext: omni.mdl-56.0.3] startup +[1.814s] [ext: omni.iray.libs-0.0.0] startup +[1.821s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.823s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.926s] [ext: omni.kit.telemetry-0.5.2] startup +[1.974s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T20:00:02Z [1,948ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:00:02Z [1,948ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[1.978s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T20:00:02Z [1,968ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:00:02Z [1,968ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:00:02Z [1,978ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:00:02Z [1,978ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.007s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.010s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T20:00:02Z [1,985ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:00:02Z [1,985ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:00:02Z [1,987ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:00:02Z [1,987ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:00:02Z [1,988ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:00:02Z [1,988ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.113s] [ext: omni.ui-2.27.1] startup +[2.124s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.125s] [ext: carb.audio-0.1.0] startup +[2.154s] [ext: omni.uiaudio-1.0.0] startup +[2.155s] [ext: omni.kit.uiapp-0.0.0] startup +[2.155s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.158s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.165s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.168s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.172s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.175s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.199s] [ext: omni.usd_resolver-1.0.0] startup +[2.204s] [ext: omni.usd.core-1.5.3] startup +[2.207s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.231s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.241s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.275s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.276s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.277s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.282s] [ext: omni.graph.exec-0.9.6] startup +[2.282s] [ext: omni.kit.actions.core-1.0.0] startup +[2.285s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.285s] [ext: omni.kit.exec.core-0.13.4] startup +[2.287s] [ext: omni.kit.commands-1.4.10] startup +[2.290s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.294s] [ext: omni.activity.core-1.0.3] startup +[2.295s] [ext: omni.resourcemonitor-107.0.1] startup +[2.297s] [ext: omni.timeline-1.0.14] startup +[2.299s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.301s] [ext: usdrt.scenegraph-7.6.1] startup +[2.340s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.342s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.350s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.356s] [ext: omni.usd-1.13.10] startup +[2.383s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.397s] [ext: omni.index.libs-380600.8087.0] startup +[2.397s] [ext: omni.volume-0.5.2] startup +[2.399s] [ext: omni.ujitso.client-0.0.0] startup +[2.400s] [ext: omni.index-1.0.1] startup +[2.401s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.402s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T20:00:03Z [2,396ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.443s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.444s] [ext: omni.kit.clipboard-1.0.5] startup +[2.445s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.448s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.455s] [ext: omni.kit.menu.core-1.1.2] startup +[2.455s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.458s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.460s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.461s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.462s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.462s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.466s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.467s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.476s] [ext: omni.ui.scene-1.11.5] startup +[2.480s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.481s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.495s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.502s] [ext: omni.kit.context_menu-1.8.6] startup +[2.503s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.509s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.514s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.516s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.516s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.517s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.520s] [ext: omni.kit.material.library-2.0.7] startup +[2.525s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.528s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.530s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.545s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.550s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.554s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.555s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.559s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.563s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.564s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.566s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.567s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.568s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.569s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.575s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.578s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.579s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.581s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.582s] [ext: omni.fabric.commands-1.1.6] startup +[2.584s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.585s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.587s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.588s] [ext: omni.debugdraw-0.1.4] startup +[2.592s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.603s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.603s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.604s] [ext: omni.kvdb-107.3.26] startup +[2.605s] [ext: omni.convexdecomposition-107.3.26] startup +[2.608s] [ext: omni.physx.foundation-107.3.26] startup +[2.610s] [ext: omni.localcache-107.3.26] startup +[2.611s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.612s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.612s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.613s] [ext: omni.usdphysics-107.3.26] startup +[2.616s] [ext: omni.kit.window.file-2.0.5] startup +[2.618s] [ext: omni.physx.cooking-107.3.26] startup +[2.622s] [ext: omni.physics-107.3.26] startup +[2.625s] [ext: omni.kit.window.property-1.12.1] startup +[2.628s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.638s] [ext: omni.physx-107.3.26] startup +[2.649s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.651s] [ext: omni.kit.property.usd-4.5.12] startup +[2.661s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.662s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T20:00:03Z [2,636ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.664s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.665s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.678s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.682s] [ext: omni.inspect-1.0.2] startup +[2.683s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.694s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.696s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.702s] [ext: omni.graph.core-2.184.5] startup +[2.705s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.707s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.734s] [ext: omni.physx.commands-107.3.26] startup +[2.738s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.738s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T20:00:03Z [2,717ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.745s] [ext: omni.physx.ui-107.3.26] startup +[2.776s] [ext: isaacsim.core.version-2.0.6] startup +[2.777s] [ext: omni.physics.tensors-107.3.26] startup +[2.782s] [ext: omni.warp.core-1.8.2] startup +[2.970s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[2.972s] [ext: isaacsim.storage.native-1.5.1] startup +[2.974s] [ext: omni.physx.tensors-107.3.26] startup +[2.987s] [ext: isaacsim.core.utils-3.5.1] startup +[2.991s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.516s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.518s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.520s] [ext: omni.kit.window.stage-2.6.1] startup +[4.529s] [ext: omni.kit.menu.create-2.0.1] startup +[4.530s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.537s] [ext: omni.kit.scripting-107.3.2] startup +[4.542s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.547s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.547s] [ext: omni.graph.tools-1.79.2] startup +[4.571s] [ext: omni.ui_query-1.1.8] startup +[4.571s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.572s] [ext: omni.graph-1.141.2] startup +[4.619s] [ext: omni.graph.action_core-1.1.7] startup +[4.621s] [ext: omni.kit.ui_test-1.3.7] startup +[4.628s] [ext: omni.kit.browser.core-2.3.13] startup +[4.633s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.638s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.643s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.648s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.658s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.667s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.683s] [ext: omni.graph.action-1.130.0] startup +[4.688s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.692s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.701s] [ext: isaacsim.gui.components-1.2.1] startup +[4.707s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.714s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.910s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.918s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.936s] [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( +[5.039s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T20:00:05Z [5,020ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.050s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.053s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.058s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.065s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.069s] [ext: omni.graph.image.core-0.6.1] startup +[5.071s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.072s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.075s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.079s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.082s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.084s] [ext: omni.graph.nodes-1.170.10] startup +[5.096s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.102s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.108s] [ext: omni.syntheticdata-0.6.13] startup +[5.142s] [ext: omni.videoencoding-0.1.2] startup +[5.148s] [ext: omni.warp-1.8.2] startup +[5.160s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.177s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.182s] [ext: isaacsim.core.prims-0.6.1] startup +[5.226s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.230s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T20:00:06Z [5,404ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T20:00:06Z [5,404ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T20:00:06Z [5,409ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.445s] [ext: isaacsim.core.api-4.8.0] startup +[5.486s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.562s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.584s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.599s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.615s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.639s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.656s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.670s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.686s] [ext: omni.sensors.net-1.0.0] startup +[5.694s] [ext: isaacsim.app.about-2.0.11] startup +[5.700s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.701s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.711s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.723s] [ext: omni.kit.property.audio-1.0.16] startup +[5.750s] [ext: omni.kit.property.camera-1.0.10] startup +[5.787s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.862s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.906s] [ext: omni.kit.property.light-1.0.12] startup +[5.965s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.974s] [ext: omni.kit.selection-0.1.6] startup +[5.982s] [ext: omni.kit.property.material-1.11.9] startup +[6.075s] [ext: omni.kit.property.transform-1.5.13] startup +[6.113s] [ext: omni.kit.property.render-1.2.1] startup +[6.127s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.146s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.382s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.571s] [ext: isaacsim.gui.property-1.1.3] startup +[6.683s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.738s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.773s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.819s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.895s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.922s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.940s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.952s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.957s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.984s] [ext: omni.kit.window.console-1.1.4] startup +[7.001s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.019s] [ext: omni.ocio-0.1.1] startup +[7.024s] [ext: omni.physx.demos-107.3.26] startup +[7.079s] [ext: omni.kit.property.physx-107.3.26] startup +[7.130s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.162s] [ext: omni.asset_validator.core-1.1.6] startup +[7.270s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.279s] [ext: omni.physx.vehicle-107.3.26] startup +[7.306s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.324s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.330s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.339s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.352s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.360s] [ext: omni.physx.camera-107.3.26] startup +[7.373s] [ext: omni.anim.curve.core-1.3.1] startup +[7.397s] [ext: omni.physx.cct-107.3.26] startup +[7.413s] [ext: omni.physx.graph-107.3.26] startup +[7.439s] [ext: omni.physx.supportui-107.3.26] startup +[7.465s] [ext: omni.physx.telemetry-107.3.26] startup +[7.478s] [ext: isaaclab-0.54.3] startup +[7.797s] [ext: isaaclab_contrib-0.0.2] startup +[7.799s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.802s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.807s] [ext: semantics.schema.property-2.0.1] startup +[7.810s] [ext: omni.physx.bundle-107.3.26] startup +[7.814s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.819s] [ext: isaaclab_assets-0.2.4] startup +[8.147s] [ext: isaaclab_tasks-0.11.14] startup +[8.318s] [ext: omni.kit.menu.common-2.0.1] startup +[8.321s] [ext: isaaclab_rl-0.5.0] startup +[8.325s] [ext: isaaclab_mimic-1.0.16] startup +[8.326s] [ext: isaaclab.python-2.3.2] startup +[8.330s] Simulation App Starting +2026-07-23T20:00:09Z [8,384ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T20:00:09Z [8,389ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T20:00:09Z [8,389ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T20:00:09Z [8,389ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T20:00:09Z [8,419ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.477s] app ready +2026-07-23T20:00:10Z [9,949ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T20:00:10Z [9,949ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T20:00:10Z [9,949ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T20:00:10Z [9,949ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.247s] 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=10 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=10 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-00-32.log +====================================================================================== + +04:00:32 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 10 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T20:00:32Z [31,899ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-23T20:00:32Z [32,004ms] [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. +2026-07-23T20:00:32Z [32,020ms] [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. +2026-07-23T20:00:32Z [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 : 0.456923 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T20:00:32Z [32,050ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +2026-07-23T20:00:32Z [32,058ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +2026-07-23T20:00:33Z [32,534ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +2026-07-23T20:00:33Z [32,534ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +2026-07-23T20:00:33Z [32,537ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +2026-07-23T20:00:33Z [32,538ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +2026-07-23T20:00:33Z [32,538ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +2026-07-23T20:00:33Z [32,538ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5577c87f8ee0:World0.usd@ <0x5577c87f9ee0>) + +[INFO]: Time taken for simulation start : 0.725374 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T20:00:42Z [41,832ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T20:00:42Z [42,287ms] [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 +2026-07-23T20:00:42Z [42,287ms] [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 +2026-07-23T20:00:42Z [42,287ms] [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 +2026-07-23T20:00:42Z [42,287ms] [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 +2026-07-23T20:00:54Z [54,077ms] [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=10 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.08264700323343277, -0.18166600167751312, 0.7724999785423279], 'quat': [0.14117999374866486, 0.0, -0.0, 0.9899839758872986]}, 't1': {'center': [0.0710809975862503, -0.16344299912452698, 0.7724999785423279], 'quat': [0.7191159725189209, -9.999999974752427e-07, -9.999999974752427e-07, 0.694890022277832]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.08259999752044678, -0.18170000612735748, 0.7724999785423279] pick_tcp=[-0.09220000356435776, -0.17890000343322754, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0151 tracking_error=0.0099 gripper_position=0.1907 secured=True +[collect][auto_swap_T] left_stage observed=[-0.09759999811649323, -0.18369999527931213, 0.7741000056266785] target=[-0.20180000364780426, -0.19580000638961792, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1062 tracking_error=0.0016 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.2029999941587448, -0.19689999520778656, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.1492999941110611, 0.0003000000142492354, 0.010499999858438969] +[collect][auto_swap_T] right_pick label=t1 center=[0.07109999656677246, -0.16339999437332153, 0.7724999785423279] pick_tcp=[0.0714000016450882, -0.1534000039100647, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0083 tracking_error=0.0170 gripper_position=0.2634 secured=False +[collect][auto_swap_T] right_pick label=t1 center=[0.07890000194311142, -0.16060000658035278, 0.7735000252723694] pick_tcp=[0.08089999854564667, -0.15080000460147858, 0.7734000086784363] waypoints=31 +[collect][auto_swap_T] right_pickup_retry reason=probe offset_deg=-15.0 waypoints=31 +[collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0132 tracking_error=0.0158 gripper_position=0.1748 secured=True +[collect][auto_swap_T] right_stage observed=[0.08879999816417694, -0.15189999341964722, 0.7738000154495239] target=[0.19020000100135803, -0.1492999941110611, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1018 tracking_error=0.0006 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.19059999287128448, -0.14980000257492065, 0.7738000154495239] lifted=0.0013 ee_to_object_pos=[0.14949999749660492, 0.00019999999494757503, -0.009999999776482582] +[collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0006 z=0.0000 yaw_deg=-9.21 +[collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect][auto_swap_T] left_rotate step=25 xy=0.0006 z=0.0000 yaw_deg=-0.54 +[collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect][auto_swap_T] left_align step=40 xy=0.2313 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect][auto_swap_T] left_align step=60 xy=0.1458 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect][auto_swap_T] left_align step=80 xy=0.0611 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect][auto_swap_T] left_align step=94 xy=0.0027 z=0.0003 yaw_deg=-0.05 +[collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect][auto_swap_T] left_release step=99 xy=0.0004 z=0.0003 yaw_deg=-0.04 +[collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect][auto_swap_T] left_release step=100 xy=0.0004 z=0.0003 yaw_deg=-0.06 +[collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect][auto_swap_T] left_feedback released center=[0.07100000232458115, -0.1632000058889389, 0.7724999785423279] quat=[0.7177000045776367, -0.0, -0.0, 0.696399986743927] +[collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.18960000574588776, -0.14990000426769257, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.14980000257492065, -9.999999747378752e-05, -0.01080000028014183] +[collect][auto_swap_T] right_detour obstacle=[0.07109999656677246, -0.16339999437332153, 0.7724999785423279] waypoint=[0.09220000356435776, -0.34200000762939453, 0.7735999822616577] clearance=0.1798 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.08259999752044678, -0.18170000612735748, 0.7724999785423279] waypoints=53 +[collect][auto_swap_T] phase=right_place waypoints=53 +[collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect][auto_swap_T] right_rotate step=2 xy=0.0002 z=0.0000 yaw_deg=-0.15 +[collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect][auto_swap_T] right_align step=12 xy=0.0030 z=0.0009 yaw_deg=-0.34 +[collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect][auto_swap_T] right_release step=17 xy=0.0008 z=0.0005 yaw_deg=-0.10 +[collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0005 z=0.0008 yaw_deg=-0.21 +[collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect][auto_swap_T] right_feedback released center=[-0.08299999684095383, -0.18209999799728394, 0.7724999785423279] quat=[0.1396999955177307, 0.0, -0.0, 0.9901999831199646] +[collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.071025, -0.163201, 0.7725], 'quat': [0.717669, -1e-06, -2e-06, 0.696384]}, 't1': {'pos': [-0.082981, -0.182088, 0.7725], 'quat': [0.139678, 0.0, -1e-06, 0.990197]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_finalv6_seed10_official400.hdf5 +2026-07-23T20:02:38Z [158,012ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:02:38Z [158,012ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[158.452s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_finalv6_seed17_official400.log b/yzr/swap_T/logs/swap_T_finalv6_seed17_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..a0d6cf7968c2343325cabf4991208e83cea529b3 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_finalv6_seed17_official400.log @@ -0,0 +1,795 @@ +[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_040719.log +[0.067s] [ext: omni.kit.async_engine-0.0.3] startup +[0.227s] [ext: omni.metrics.core-0.0.3] startup +[0.228s] [ext: omni.client.lib-1.1.0] startup +[0.243s] [ext: omni.blobkey-1.1.2] startup +[0.243s] [ext: omni.stats-1.0.1] startup +[0.244s] [ext: omni.datastore-0.0.0] startup +[0.252s] [ext: omni.client-1.3.0] startup +[0.259s] [ext: omni.ujitso.default-1.0.0] startup +[0.260s] [ext: omni.hsscclient-1.1.2] startup +[0.282s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.284s] [ext: omni.assets.plugins-0.0.0] startup +[0.285s] [ext: omni.gpu_foundation-0.0.0] startup +[0.293s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T20:07:20Z [268ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:07:20Z [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) +[0.294s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T20:07:20Z [359ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T20:07:20Z [366ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T20:07:20Z [366ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T20:07:20Z [366ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T20:07:20Z [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. +2026-07-23T20:07:20Z [1,181ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:07:20Z [1,181ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:07:20Z [1,204ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:07:20Z [1,204ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:07:21Z [1,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:07:21Z [1,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:07:21Z [1,210ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:07:21Z [1,210ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:07:21Z [1,210ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:07:21Z [1,210ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:07:21Z [1,210ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:07:21Z [1,210ms] [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: 23926 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.997s] [ext: omni.materialx.libs-1.0.7] startup +[2.006s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.007s] [ext: omni.kit.test-2.0.1] startup +[2.050s] [ext: omni.kit.pipapi-0.0.0] startup +[2.051s] [ext: omni.usd.config-1.0.6] startup +[2.054s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.055s] [ext: omni.usd.libs-1.0.1] startup +[2.168s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.168s] [ext: omni.mdl-56.0.3] startup +[2.191s] [ext: omni.iray.libs-0.0.0] startup +[2.198s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.200s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.306s] [ext: omni.kit.telemetry-0.5.2] startup +[2.356s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T20:07:22Z [2,332ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:07:22Z [2,332ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.360s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T20:07:22Z [2,353ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:07:22Z [2,353ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:07:22Z [2,362ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:07:22Z [2,362ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.390s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.392s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T20:07:22Z [2,370ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:07:22Z [2,370ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:07:22Z [2,371ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:07:22Z [2,371ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:07:22Z [2,372ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:07:22Z [2,372ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.489s] [ext: omni.ui-2.27.1] startup +[2.502s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.503s] [ext: carb.audio-0.1.0] startup +[2.534s] [ext: omni.uiaudio-1.0.0] startup +[2.535s] [ext: omni.kit.uiapp-0.0.0] startup +[2.535s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.538s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.545s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.548s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.552s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.555s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.579s] [ext: omni.usd_resolver-1.0.0] startup +[2.583s] [ext: omni.usd.core-1.5.3] startup +[2.587s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.611s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.620s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.654s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.655s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.656s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.661s] [ext: omni.graph.exec-0.9.6] startup +[2.661s] [ext: omni.kit.actions.core-1.0.0] startup +[2.664s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.664s] [ext: omni.kit.exec.core-0.13.4] startup +[2.666s] [ext: omni.kit.commands-1.4.10] startup +[2.669s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.673s] [ext: omni.activity.core-1.0.3] startup +[2.675s] [ext: omni.resourcemonitor-107.0.1] startup +[2.677s] [ext: omni.timeline-1.0.14] startup +[2.678s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.680s] [ext: usdrt.scenegraph-7.6.1] startup +[2.721s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.722s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.730s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.736s] [ext: omni.usd-1.13.10] startup +[2.764s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.777s] [ext: omni.index.libs-380600.8087.0] startup +[2.777s] [ext: omni.volume-0.5.2] startup +[2.780s] [ext: omni.ujitso.client-0.0.0] startup +[2.780s] [ext: omni.index-1.0.1] startup +[2.781s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.782s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T20:07:22Z [2,779ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.823s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.825s] [ext: omni.kit.clipboard-1.0.5] startup +[2.826s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.829s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.836s] [ext: omni.kit.menu.core-1.1.2] startup +[2.836s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.839s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.841s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.841s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.843s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.843s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.847s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.848s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.857s] [ext: omni.ui.scene-1.11.5] startup +[2.861s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.862s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.876s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.883s] [ext: omni.kit.context_menu-1.8.6] startup +[2.884s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.890s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.894s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.896s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.897s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.898s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.902s] [ext: omni.kit.material.library-2.0.7] startup +[2.906s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.909s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.911s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.926s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.931s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.936s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.936s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.940s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.944s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.945s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.947s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.949s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.949s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.950s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.957s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.960s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.960s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.962s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.963s] [ext: omni.fabric.commands-1.1.6] startup +[2.966s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.967s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.968s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.969s] [ext: omni.debugdraw-0.1.4] startup +[2.973s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.984s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.985s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.985s] [ext: omni.kvdb-107.3.26] startup +[2.987s] [ext: omni.convexdecomposition-107.3.26] startup +[2.990s] [ext: omni.physx.foundation-107.3.26] startup +[2.992s] [ext: omni.localcache-107.3.26] startup +[2.993s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.994s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.994s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.995s] [ext: omni.usdphysics-107.3.26] startup +[2.997s] [ext: omni.kit.window.file-2.0.5] startup +[3.000s] [ext: omni.physx.cooking-107.3.26] startup +[3.004s] [ext: omni.physics-107.3.26] startup +[3.007s] [ext: omni.kit.window.property-1.12.1] startup +[3.010s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.021s] [ext: omni.physx-107.3.26] startup +[3.032s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.034s] [ext: omni.kit.property.usd-4.5.12] startup +[3.044s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.045s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T20:07:22Z [3,022ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.048s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.048s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.062s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.066s] [ext: omni.inspect-1.0.2] startup +[3.068s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.079s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.080s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.088s] [ext: omni.graph.core-2.184.5] startup +[3.091s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.093s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.120s] [ext: omni.physx.commands-107.3.26] startup +[3.125s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.125s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T20:07:22Z [3,106ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.132s] [ext: omni.physx.ui-107.3.26] startup +[3.166s] [ext: isaacsim.core.version-2.0.6] startup +[3.166s] [ext: omni.physics.tensors-107.3.26] startup +[3.171s] [ext: omni.warp.core-1.8.2] startup +[3.361s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.363s] [ext: isaacsim.storage.native-1.5.1] startup +[3.364s] [ext: omni.physx.tensors-107.3.26] startup +[3.370s] [ext: isaacsim.core.utils-3.5.1] startup +[3.374s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.957s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.958s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.960s] [ext: omni.kit.window.stage-2.6.1] startup +[4.965s] [ext: omni.kit.menu.create-2.0.1] startup +[4.966s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.973s] [ext: omni.kit.scripting-107.3.2] startup +[4.977s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.981s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.981s] [ext: omni.graph.tools-1.79.2] startup +[5.003s] [ext: omni.ui_query-1.1.8] startup +[5.004s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.005s] [ext: omni.graph-1.141.2] startup +[5.049s] [ext: omni.graph.action_core-1.1.7] startup +[5.051s] [ext: omni.kit.ui_test-1.3.7] startup +[5.055s] [ext: omni.kit.browser.core-2.3.13] startup +[5.059s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.064s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.068s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.075s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.085s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.092s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.107s] [ext: omni.graph.action-1.130.0] startup +[5.111s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.118s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.128s] [ext: isaacsim.gui.components-1.2.1] startup +[5.139s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.146s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.265s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.275s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.283s] [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( +[5.379s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T20:07:25Z [5,357ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.385s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.387s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.394s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.399s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.402s] [ext: omni.graph.image.core-0.6.1] startup +[5.405s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.406s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.408s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.410s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.413s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.415s] [ext: omni.graph.nodes-1.170.10] startup +[5.427s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.432s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.437s] [ext: omni.syntheticdata-0.6.13] startup +[5.470s] [ext: omni.videoencoding-0.1.2] startup +[5.476s] [ext: omni.warp-1.8.2] startup +[5.485s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.506s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.511s] [ext: isaacsim.core.prims-0.6.1] startup +[5.556s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.566s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T20:07:25Z [5,968ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T20:07:25Z [5,968ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T20:07:25Z [5,970ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.000s] [ext: isaacsim.core.api-4.8.0] startup +[6.028s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.109s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.126s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.137s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.183s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.210s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.229s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.267s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.279s] [ext: omni.sensors.net-1.0.0] startup +[6.294s] [ext: isaacsim.app.about-2.0.11] startup +[6.305s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.306s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.399s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.414s] [ext: omni.kit.property.audio-1.0.16] startup +[6.445s] [ext: omni.kit.property.camera-1.0.10] startup +[6.487s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.525s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.553s] [ext: omni.kit.property.light-1.0.12] startup +[6.615s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.620s] [ext: omni.kit.selection-0.1.6] startup +[6.639s] [ext: omni.kit.property.material-1.11.9] startup +[6.842s] [ext: omni.kit.property.transform-1.5.13] startup +[6.914s] [ext: omni.kit.property.render-1.2.1] startup +[6.942s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.962s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.116s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.138s] [ext: isaacsim.gui.property-1.1.3] startup +[7.147s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.158s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.189s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.208s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.265s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.278s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.303s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.322s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.337s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.356s] [ext: omni.kit.window.console-1.1.4] startup +[7.374s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.403s] [ext: omni.ocio-0.1.1] startup +[7.409s] [ext: omni.physx.demos-107.3.26] startup +[7.449s] [ext: omni.kit.property.physx-107.3.26] startup +[7.496s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.526s] [ext: omni.asset_validator.core-1.1.6] startup +[7.624s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.633s] [ext: omni.physx.vehicle-107.3.26] startup +[7.661s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.679s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.685s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.693s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.707s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.714s] [ext: omni.physx.camera-107.3.26] startup +[7.727s] [ext: omni.anim.curve.core-1.3.1] startup +[7.750s] [ext: omni.physx.cct-107.3.26] startup +[7.767s] [ext: omni.physx.graph-107.3.26] startup +[7.797s] [ext: omni.physx.supportui-107.3.26] startup +[7.829s] [ext: omni.physx.telemetry-107.3.26] startup +[7.847s] [ext: isaaclab-0.54.3] startup +[8.145s] [ext: isaaclab_contrib-0.0.2] startup +[8.147s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.151s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.156s] [ext: semantics.schema.property-2.0.1] startup +[8.162s] [ext: omni.physx.bundle-107.3.26] startup +[8.162s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.171s] [ext: isaaclab_assets-0.2.4] startup +[8.489s] [ext: isaaclab_tasks-0.11.14] startup +[8.671s] [ext: omni.kit.menu.common-2.0.1] startup +[8.673s] [ext: isaaclab_rl-0.5.0] startup +[8.674s] [ext: isaaclab_mimic-1.0.16] startup +[8.676s] [ext: isaaclab.python-2.3.2] startup +[8.680s] Simulation App Starting +2026-07-23T20:07:28Z [8,744ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T20:07:28Z [8,749ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T20:07:28Z [8,749ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T20:07:28Z [8,749ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T20:07:28Z [8,785ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-23T20:07:28Z [8,833ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-07-23T20:07:28Z [8,833ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-23T20:07:28Z [8,833ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +[8.877s] app ready +2026-07-23T20:07:29Z [9,400ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T20:07:29Z [9,400ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T20:07:29Z [9,400ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T20:07:29Z [9,400ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.429s] 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=17 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=17 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-07-51.log +====================================================================================== + +04:07:51 [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 : 17 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T20:07:51Z [32,116ms] [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 +2026-07-23T20:07:52Z [32,218ms] [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. +2026-07-23T20:07:52Z [32,234ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-23T20:07:52Z [32,246ms] [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 : 0.446990 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T20:07:52Z [32,260ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +2026-07-23T20:07:52Z [32,267ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +2026-07-23T20:07:52Z [32,732ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +2026-07-23T20:07:52Z [32,732ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +2026-07-23T20:07:52Z [32,736ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +2026-07-23T20:07:52Z [32,736ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +2026-07-23T20:07:52Z [32,737ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +2026-07-23T20:07:52Z [32,737ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f23fd24320:World0.usd@ <0x55f23fd25320>) + +[INFO]: Time taken for simulation start : 0.716389 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T20:08:01Z [41,761ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T20:08:06Z [47,171ms] [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 +2026-07-23T20:08:06Z [47,171ms] [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 +2026-07-23T20:08:06Z [47,171ms] [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 +2026-07-23T20:08:06Z [47,171ms] [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 +2026-07-23T20:08:13Z [53,636ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[collect][auto_swap_T] reset demo=0 seed=17 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.045770999044179916, -0.19718199968338013, 0.7724999785423279], 'quat': [0.08533299714326859, 0.0, 0.0, 0.9963520169258118]}, 't1': {'center': [0.07737299799919128, -0.15633699297904968, 0.7724999785423279], 'quat': [0.5874590277671814, 0.0, 0.0, 0.809253990650177]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.04580000042915344, -0.1972000002861023, 0.7724999785423279] pick_tcp=[-0.05559999868273735, -0.19550000131130219, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0143 tracking_error=0.0110 gripper_position=0.1929 secured=True +[collect][auto_swap_T] left_stage observed=[-0.05860000103712082, -0.20360000431537628, 0.7741000056266785] target=[-0.15970000624656677, -0.23499999940395355, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1071 tracking_error=0.0016 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.1606999933719635, -0.2362000048160553, 0.7741000056266785] lifted=0.0016 ee_to_object_pos=[0.149399995803833, 0.00019999999494757503, 0.00930000003427267] +[collect][auto_swap_T] right_pick label=t1 center=[0.07739999890327454, -0.15629999339580536, 0.7724999785423279] pick_tcp=[0.07429999858140945, -0.1467999964952469, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0102 tracking_error=0.0150 gripper_position=0.2808 secured=True +[collect][auto_swap_T] right_stage observed=[0.08739999681711197, -0.15449999272823334, 0.7731000185012817] target=[0.19130000472068787, -0.11860000342130661, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1160 tracking_error=0.0062 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.19740000367164612, -0.11789999902248383, 0.7730000019073486] lifted=0.0005 ee_to_object_pos=[0.14949999749660492, 0.00019999999494757503, -0.01720000058412552] +[collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect][auto_swap_T] left_rotate step=17 xy=0.0006 z=0.0000 yaw_deg=-0.79 +[collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0002 z=0.0000 yaw_deg=-0.02 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect][auto_swap_T] left_align step=40 xy=0.1607 z=0.0002 yaw_deg=0.00 +[collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_align step=60 xy=0.0757 z=0.0003 yaw_deg=-0.02 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect][auto_swap_T] left_align step=80 xy=0.0249 z=0.0001 yaw_deg=-0.56 +[collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect][auto_swap_T] left_align step=97 xy=0.0038 z=0.0007 yaw_deg=-0.48 +[collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0020 z=0.0006 yaw_deg=-0.24 +[collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect][auto_swap_T] left_release step=102 xy=0.0015 z=0.0005 yaw_deg=-0.19 +[collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect][auto_swap_T] left_feedback released center=[0.07699999958276749, -0.15549999475479126, 0.7724999785423279] quat=[0.583299994468689, -0.0, -0.0, 0.8122000098228455] +[collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.24379999935626984, -0.12349999696016312, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.1500999927520752, -0.00019999999494757503, -0.017100000753998756] +[collect][auto_swap_T] right_detour obstacle=[0.07739999890327454, -0.15629999339580536, 0.7724999785423279] waypoint=[0.12610000371932983, -0.30320000648498535, 0.7724999785423279] clearance=0.1547 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.04580000042915344, -0.1972000002861023, 0.7724999785423279] waypoints=49 +[collect][auto_swap_T] phase=right_place waypoints=49 +[collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.03 +[collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0003 z=0.0037 yaw_deg=-0.01 +[collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.02 +[collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.20 +[collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect][auto_swap_T] right_feedback released center=[-0.04610000178217888, -0.1973000019788742, 0.7724999785423279] quat=[0.0835999995470047, 0.0, -0.0, 0.9965000152587891] +[collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.077043, -0.155549, 0.7725], 'quat': [0.583322, -1e-06, -3e-06, 0.812241]}, 't1': {'pos': [-0.046139, -0.197299, 0.7725], 'quat': [0.083579, 0.0, -1e-06, 0.996501]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_finalv6_seed17_official400.hdf5 +2026-07-23T20:09:45Z [146,067ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:09:45Z [146,067ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[146.474s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_finalv6_seed21_official400.log b/yzr/swap_T/logs/swap_T_finalv6_seed21_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..fa5c07c2318f5423826cc87bc96654c65bf084c2 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_finalv6_seed21_official400.log @@ -0,0 +1,882 @@ +[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_041037.log +[0.074s] [ext: omni.kit.async_engine-0.0.3] startup +[0.242s] [ext: omni.metrics.core-0.0.3] startup +[0.243s] [ext: omni.client.lib-1.1.0] startup +[0.258s] [ext: omni.blobkey-1.1.2] startup +[0.259s] [ext: omni.stats-1.0.1] startup +[0.260s] [ext: omni.datastore-0.0.0] startup +[0.266s] [ext: omni.client-1.3.0] startup +[0.271s] [ext: omni.ujitso.default-1.0.0] startup +[0.273s] [ext: omni.hsscclient-1.1.2] startup +[0.295s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.297s] [ext: omni.assets.plugins-0.0.0] startup +[0.298s] [ext: omni.gpu_foundation-0.0.0] startup +[0.305s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T20:10:37Z [271ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:10:37Z [271ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.306s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T20:10:37Z [388ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T20:10:37Z [395ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T20:10:37Z [395ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T20:10:37Z [395ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T20:10:37Z [423ms] [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. +2026-07-23T20:10:39Z [2,194ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:10:39Z [2,194ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:10:39Z [2,196ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:10:39Z [2,196ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:10:39Z [2,197ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:10:39Z [2,197ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:10:39Z [2,202ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:10:39Z [2,203ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:10:39Z [2,203ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:10:39Z [2,203ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:10:39Z [2,203ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:10:39Z [2,203ms] [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: 42199 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.852s] [ext: omni.materialx.libs-1.0.7] startup +[3.862s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.863s] [ext: omni.kit.test-2.0.1] startup +[3.910s] [ext: omni.kit.pipapi-0.0.0] startup +[3.911s] [ext: omni.usd.config-1.0.6] startup +[3.916s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.917s] [ext: omni.usd.libs-1.0.1] startup +[4.029s] [ext: omni.kit.pip_archive-0.0.0] startup +[4.029s] [ext: omni.mdl-56.0.3] startup +[4.053s] [ext: omni.iray.libs-0.0.0] startup +[4.061s] [ext: omni.mdl.neuraylib-0.2.12] startup +[4.063s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.170s] [ext: omni.kit.telemetry-0.5.2] startup +[4.217s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T20:10:41Z [4,184ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:10:41Z [4,184ms] [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) +[4.221s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T20:10:41Z [4,205ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:10:41Z [4,205ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:10:41Z [4,214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:10:41Z [4,214ms] [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) +[4.251s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.253s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T20:10:41Z [4,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:10:41Z [4,222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:10:41Z [4,223ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:10:41Z [4,223ms] [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) +2026-07-23T20:10:41Z [4,225ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:10:41Z [4,225ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.348s] [ext: omni.ui-2.27.1] startup +[4.359s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.360s] [ext: carb.audio-0.1.0] startup +[4.391s] [ext: omni.uiaudio-1.0.0] startup +[4.392s] [ext: omni.kit.uiapp-0.0.0] startup +[4.392s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.395s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.403s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.406s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.410s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.413s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.436s] [ext: omni.usd_resolver-1.0.0] startup +[4.441s] [ext: omni.usd.core-1.5.3] startup +[4.444s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.469s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.478s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.513s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.514s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.514s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.519s] [ext: omni.graph.exec-0.9.6] startup +[4.520s] [ext: omni.kit.actions.core-1.0.0] startup +[4.522s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.523s] [ext: omni.kit.exec.core-0.13.4] startup +[4.525s] [ext: omni.kit.commands-1.4.10] startup +[4.528s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.532s] [ext: omni.activity.core-1.0.3] startup +[4.534s] [ext: omni.resourcemonitor-107.0.1] startup +[4.536s] [ext: omni.timeline-1.0.14] startup +[4.538s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.540s] [ext: usdrt.scenegraph-7.6.1] startup +[4.582s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.583s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.591s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.597s] [ext: omni.usd-1.13.10] startup +[4.625s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.646s] [ext: omni.index.libs-380600.8087.0] startup +[4.646s] [ext: omni.volume-0.5.2] startup +[4.649s] [ext: omni.ujitso.client-0.0.0] startup +[4.650s] [ext: omni.index-1.0.1] startup +[4.650s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.652s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T20:10:41Z [4,640ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.694s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.696s] [ext: omni.kit.clipboard-1.0.5] startup +[4.697s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.700s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.707s] [ext: omni.kit.menu.core-1.1.2] startup +[4.708s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.711s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.713s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.714s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.715s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.715s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.720s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.721s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.730s] [ext: omni.ui.scene-1.11.5] startup +[4.735s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.735s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.751s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.758s] [ext: omni.kit.context_menu-1.8.6] startup +[4.760s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.766s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.770s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.773s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.774s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.774s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.778s] [ext: omni.kit.material.library-2.0.7] startup +[4.785s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.788s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.791s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.808s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.813s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.819s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.819s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.823s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.828s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.829s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.831s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.833s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.833s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.834s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.841s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.844s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.845s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.847s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.848s] [ext: omni.fabric.commands-1.1.6] startup +[4.851s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.853s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.854s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.855s] [ext: omni.debugdraw-0.1.4] startup +[4.860s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.872s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.873s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.873s] [ext: omni.kvdb-107.3.26] startup +[4.874s] [ext: omni.convexdecomposition-107.3.26] startup +[4.878s] [ext: omni.physx.foundation-107.3.26] startup +[4.880s] [ext: omni.localcache-107.3.26] startup +[4.881s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.882s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.882s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.883s] [ext: omni.usdphysics-107.3.26] startup +[4.885s] [ext: omni.kit.window.file-2.0.5] startup +[4.888s] [ext: omni.physx.cooking-107.3.26] startup +[4.892s] [ext: omni.physics-107.3.26] startup +[4.895s] [ext: omni.kit.window.property-1.12.1] startup +[4.899s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.911s] [ext: omni.physx-107.3.26] startup +[4.923s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.925s] [ext: omni.kit.property.usd-4.5.12] startup +[4.938s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.939s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T20:10:42Z [4,906ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[4.942s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.942s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.958s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.963s] [ext: omni.inspect-1.0.2] startup +[4.964s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.978s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.979s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.990s] [ext: omni.graph.core-2.184.5] startup +[4.994s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.995s] [ext: omni.usdphysics.ui-107.3.26] startup +[5.027s] [ext: omni.physx.commands-107.3.26] startup +[5.032s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[5.033s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T20:10:42Z [5,006ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[5.041s] [ext: omni.physx.ui-107.3.26] startup +[5.084s] [ext: isaacsim.core.version-2.0.6] startup +[5.085s] [ext: omni.physics.tensors-107.3.26] startup +[5.090s] [ext: omni.warp.core-1.8.2] startup +[5.312s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.315s] [ext: isaacsim.storage.native-1.5.1] startup +[5.317s] [ext: omni.physx.tensors-107.3.26] startup +[5.323s] [ext: isaacsim.core.utils-3.5.1] startup +[5.326s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.798s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.801s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.803s] [ext: omni.kit.window.stage-2.6.1] startup +[6.808s] [ext: omni.kit.menu.create-2.0.1] startup +[6.810s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.816s] [ext: omni.kit.scripting-107.3.2] startup +[6.821s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.825s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.825s] [ext: omni.graph.tools-1.79.2] startup +[6.849s] [ext: omni.ui_query-1.1.8] startup +[6.849s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.850s] [ext: omni.graph-1.141.2] startup +[6.895s] [ext: omni.graph.action_core-1.1.7] startup +[6.897s] [ext: omni.kit.ui_test-1.3.7] startup +[6.901s] [ext: omni.kit.browser.core-2.3.13] startup +[6.907s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.910s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.917s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.919s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.934s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.940s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.954s] [ext: omni.graph.action-1.130.0] startup +[6.957s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.967s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.974s] [ext: isaacsim.gui.components-1.2.1] startup +[6.981s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.987s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[7.123s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.127s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.132s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.204s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T20:10:44Z [7,177ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.214s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.216s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.220s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.228s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.231s] [ext: omni.graph.image.core-0.6.1] startup +[7.234s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.235s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.237s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.240s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.242s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.244s] [ext: omni.graph.nodes-1.170.10] startup +[7.256s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.260s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.264s] [ext: omni.syntheticdata-0.6.13] startup +[7.322s] [ext: omni.videoencoding-0.1.2] startup +[7.329s] [ext: omni.warp-1.8.2] startup +[7.336s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.430s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.436s] [ext: isaacsim.core.prims-0.6.1] startup +[7.499s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.529s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T20:10:44Z [7,701ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T20:10:44Z [7,701ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T20:10:44Z [7,702ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.740s] [ext: isaacsim.core.api-4.8.0] startup +[7.761s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.810s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.827s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.838s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.844s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.864s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.877s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.893s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.911s] [ext: omni.sensors.net-1.0.0] startup +[7.919s] [ext: isaacsim.app.about-2.0.11] startup +[7.929s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.931s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.941s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[8.039s] [ext: omni.kit.property.audio-1.0.16] startup +[8.057s] [ext: omni.kit.property.camera-1.0.10] startup +[8.064s] [ext: omni.kit.property.geometry-2.0.4] startup +[8.085s] [ext: omni.hydra.scene_api-0.1.2] startup +[8.128s] [ext: omni.kit.property.light-1.0.12] startup +[8.217s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.234s] [ext: omni.kit.selection-0.1.6] startup +[8.347s] [ext: omni.kit.property.material-1.11.9] startup +[8.761s] [ext: omni.kit.property.transform-1.5.13] startup +[8.785s] [ext: omni.kit.property.render-1.2.1] startup +[8.794s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.805s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.831s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.848s] [ext: isaacsim.gui.property-1.1.3] startup +[8.856s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.863s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.889s] [ext: isaacsim.sensors.physics-0.4.3] startup +[9.099s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[9.118s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[9.126s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[9.142s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[9.157s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[9.171s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.186s] [ext: omni.kit.window.console-1.1.4] startup +[9.199s] [ext: omni.rtx.window.settings-0.6.19] startup +[9.217s] [ext: omni.ocio-0.1.1] startup +[9.224s] [ext: omni.physx.demos-107.3.26] startup +[9.257s] [ext: omni.kit.property.physx-107.3.26] startup +[9.299s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.326s] [ext: omni.asset_validator.core-1.1.6] startup +[9.410s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.418s] [ext: omni.physx.vehicle-107.3.26] startup +[9.438s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.453s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.459s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.466s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.477s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.485s] [ext: omni.physx.camera-107.3.26] startup +[9.501s] [ext: omni.anim.curve.core-1.3.1] startup +[9.520s] [ext: omni.physx.cct-107.3.26] startup +[9.538s] [ext: omni.physx.graph-107.3.26] startup +[9.566s] [ext: omni.physx.supportui-107.3.26] startup +[9.599s] [ext: omni.physx.telemetry-107.3.26] startup +[9.608s] [ext: isaaclab-0.54.3] startup +[9.884s] [ext: isaaclab_contrib-0.0.2] startup +[9.886s] [ext: isaacsim.core.throttling-2.2.2] startup +[9.892s] [ext: omni.kit.ui.actions-1.0.5] startup +[9.893s] [ext: semantics.schema.property-2.0.1] startup +[9.897s] [ext: omni.physx.bundle-107.3.26] startup +[9.900s] [ext: isaacsim.sensors.camera-1.3.6] startup +[9.906s] [ext: isaaclab_assets-0.2.4] startup +[10.206s] [ext: isaaclab_tasks-0.11.14] startup +[10.373s] [ext: omni.kit.menu.common-2.0.1] startup +[10.376s] [ext: isaaclab_rl-0.5.0] startup +[10.379s] [ext: isaaclab_mimic-1.0.16] startup +[10.381s] [ext: isaaclab.python-2.3.2] startup +[10.385s] Simulation App Starting +2026-07-23T20:10:47Z [10,439ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T20:10:47Z [10,443ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T20:10:47Z [10,443ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T20:10:47Z [10,443ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T20:10:47Z [10,473ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[10.539s] app ready +2026-07-23T20:10:48Z [11,490ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T20:10:48Z [11,490ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T20:10:48Z [11,490ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T20:10:48Z [11,490ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[14.950s] 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=21 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=21 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-11-09.log +====================================================================================== + +04:11:09 [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 : 21 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T20:11:09Z [32,776ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-23T20:11:10Z [32,880ms] [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. +2026-07-23T20:11:10Z [32,896ms] [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. +2026-07-23T20:11:10Z [32,908ms] [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 : 0.424115 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T20:11:10Z [32,923ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +2026-07-23T20:11:10Z [32,930ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +2026-07-23T20:11:10Z [33,404ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +2026-07-23T20:11:10Z [33,404ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +2026-07-23T20:11:10Z [33,407ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +2026-07-23T20:11:10Z [33,408ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +2026-07-23T20:11:10Z [33,408ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +2026-07-23T20:11:10Z [33,408ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f8bd432c50:World0.usd@ <0x55f8bd433c50>) + +[INFO]: Time taken for simulation start : 0.714987 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T20:11:18Z [41,744ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T20:11:19Z [42,221ms] [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 +2026-07-23T20:11:19Z [42,221ms] [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 +2026-07-23T20:11:19Z [42,221ms] [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 +2026-07-23T20:11:19Z [42,221ms] [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 +2026-07-23T20:11:30Z [53,495ms] [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=21 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.05732300132513046, -0.18808099627494812, 0.7724999785423279], 'quat': [-0.5108270049095154, -9.999999974752427e-07, 0.0, 0.8596829771995544]}, 't1': {'center': [0.06808499991893768, -0.19322699308395386, 0.7724999785423279], 'quat': [0.9200360178947449, -9.999999974752427e-07, 9.999999974752427e-07, -0.39183399081230164]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.05730000138282776, -0.18809999525547028, 0.7724999785423279] pick_tcp=[-0.06210000067949295, -0.19689999520778656, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0089 tracking_error=0.0328 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pick label=t0 center=[-0.05009999871253967, -0.1932000070810318, 0.7724999785423279] pick_tcp=[-0.059300001710653305, -0.19699999690055847, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] left_pickup_retry reason=probe offset_deg=15.0 waypoints=32 +[collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0105 tracking_error=0.0159 gripper_position=0.0049 secured=True +[collect][auto_swap_T] left_stage observed=[-0.05959999933838844, -0.19779999554157257, 0.7735999822616577] target=[-0.17720000445842743, -0.18320000171661377, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1209 tracking_error=0.0082 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.17820000648498535, -0.17499999701976776, 0.7736999988555908] lifted=0.0012 ee_to_object_pos=[0.15060000121593475, -0.00019999999494757503, 0.009499999694526196] +[collect][auto_swap_T] right_pick label=t1 center=[0.06809999793767929, -0.1932000070810318, 0.7724999785423279] pick_tcp=[0.07500000298023224, -0.2003999948501587, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0194 tracking_error=0.0157 gripper_position=0.1800 secured=True +[collect][auto_swap_T] right_stage observed=[0.08370000123977661, -0.18170000612735748, 0.7727000117301941] target=[0.18799999356269836, -0.1981000006198883, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1061 tracking_error=0.0009 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.18870000541210175, -0.19760000705718994, 0.772599995136261] lifted=0.0001 ee_to_object_pos=[0.1509000062942505, -0.0, 0.005799999926239252] +[collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0007 z=0.0000 yaw_deg=96.85 +[collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0007 z=0.0000 yaw_deg=61.82 +[collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0007 z=0.0000 yaw_deg=26.77 +[collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect][auto_swap_T] left_rotate step=75 xy=0.0006 z=0.0000 yaw_deg=0.46 +[collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect][auto_swap_T] left_align step=80 xy=0.2472 z=0.0029 yaw_deg=-0.02 +[collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect][auto_swap_T] left_align step=100 xy=0.1599 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect][auto_swap_T] left_align step=120 xy=0.0743 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect][auto_swap_T] left_align step=140 xy=0.0143 z=0.0005 yaw_deg=-0.55 +[collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect][auto_swap_T] left_align step=147 xy=0.0032 z=0.0004 yaw_deg=-0.34 +[collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect][auto_swap_T] left_release step=152 xy=0.0007 z=0.0000 yaw_deg=-0.08 +[collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect][auto_swap_T] left_release step=160 xy=0.0004 z=0.0040 yaw_deg=-0.36 +[collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect][auto_swap_T] left_feedback released center=[0.06769999861717224, -0.19329999387264252, 0.7724999785423279] quat=[0.9211999773979187, -0.0, 0.0, -0.3889999985694885] +[collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.21559999883174896, -0.19480000436306, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.15129999816417694, -0.0003000000142492354, 0.005900000222027302] +[collect][auto_swap_T] right_detour obstacle=[0.06809999793767929, -0.1932000070810318, 0.7724999785423279] waypoint=[0.07519999891519547, -0.020500000566244125, 0.7735999822616577] clearance=0.1729 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.05730000138282776, -0.18809999525547028, 0.7724999785423279] waypoints=52 +[collect][auto_swap_T] phase=right_place waypoints=52 +[collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.10 +[collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0004 z=0.0040 yaw_deg=-0.00 +[collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.01 +[collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.24 +[collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect][auto_swap_T] right_feedback released center=[-0.057500001043081284, -0.188400000333786, 0.7724999785423279] quat=[-0.5126000046730042, 0.0, -0.0, 0.8586000204086304] +[collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect] demo=0 step=389/400 +env0 step: 389 / 400 [collect] demo=0 step=390/400 +env0 step: 390 / 400 [collect] demo=0 step=391/400 +env0 step: 391 / 400 [collect] demo=0 step=392/400 +env0 step: 392 / 400 [collect] demo=0 step=393/400 +env0 step: 393 / 400 [collect] demo=0 step=394/400 +env0 step: 394 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=395/400 +env0 step: 395 / 400 [collect] demo=0 step=396/400 +env0 step: 396 / 400 [collect] demo=0 step=397/400 +env0 step: 397 / 400 [collect] demo=0 step=398/400 +env0 step: 398 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.067722, -0.193294, 0.7725], 'quat': [0.921248, -1e-06, 1e-06, -0.388975]}, 't1': {'pos': [-0.057476, -0.188435, 0.7725], 'quat': [-0.512647, 1e-06, -0.0, 0.8586]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_finalv6_seed21_official400.hdf5 +2026-07-23T20:13:24Z [167,219ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:13:24Z [167,219ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[167.716s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_finalv6_seed26_official400.log b/yzr/swap_T/logs/swap_T_finalv6_seed26_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..7c167329a35aa2193cf19ad417ed2d7ec9eda753 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_finalv6_seed26_official400.log @@ -0,0 +1,801 @@ +[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_041547.log +[0.064s] [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 +[0.223s] [ext: omni.blobkey-1.1.2] startup +[0.223s] [ext: omni.stats-1.0.1] startup +[0.224s] [ext: omni.datastore-0.0.0] startup +[0.230s] [ext: omni.client-1.3.0] startup +[0.274s] [ext: omni.ujitso.default-1.0.0] startup +[0.276s] [ext: omni.hsscclient-1.1.2] startup +[0.298s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.300s] [ext: omni.assets.plugins-0.0.0] startup +[0.301s] [ext: omni.gpu_foundation-0.0.0] startup +[0.308s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T20:15:47Z [282ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:15:47Z [282ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.309s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T20:15:48Z [371ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T20:15:48Z [378ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T20:15:48Z [378ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T20:15:48Z [378ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T20:15:48Z [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. +2026-07-23T20:15:48Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:15:48Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:15:48Z [966ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:15:48Z [966ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:15:48Z [967ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:15:48Z [967ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:15:48Z [968ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:15:48Z [968ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:15:48Z [968ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:15:48Z [968ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T20:15:48Z [968ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T20:15:48Z [968ms] [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: 11181 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.746s] [ext: omni.materialx.libs-1.0.7] startup +[1.755s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.756s] [ext: omni.kit.test-2.0.1] startup +[1.800s] [ext: omni.kit.pipapi-0.0.0] startup +[1.801s] [ext: omni.usd.config-1.0.6] startup +[1.804s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.805s] [ext: omni.usd.libs-1.0.1] startup +[1.917s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.918s] [ext: omni.mdl-56.0.3] startup +[1.941s] [ext: omni.iray.libs-0.0.0] startup +[1.947s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.949s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.054s] [ext: omni.kit.telemetry-0.5.2] startup +[2.108s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T20:15:49Z [2,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:15:49Z [2,085ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.116s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T20:15:49Z [2,112ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:15:49Z [2,112ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:15:49Z [2,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:15:49Z [2,124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.153s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.157s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T20:15:49Z [2,136ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:15:49Z [2,136ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:15:49Z [2,138ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:15:49Z [2,138ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T20:15:49Z [2,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:15:49Z [2,140ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.258s] [ext: omni.ui-2.27.1] startup +[2.269s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.270s] [ext: carb.audio-0.1.0] startup +[2.299s] [ext: omni.uiaudio-1.0.0] startup +[2.300s] [ext: omni.kit.uiapp-0.0.0] startup +[2.300s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.303s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.310s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.313s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.317s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.321s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.345s] [ext: omni.usd_resolver-1.0.0] startup +[2.351s] [ext: omni.usd.core-1.5.3] startup +[2.354s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.381s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.390s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.424s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.425s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.425s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.431s] [ext: omni.graph.exec-0.9.6] startup +[2.431s] [ext: omni.kit.actions.core-1.0.0] startup +[2.433s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.434s] [ext: omni.kit.exec.core-0.13.4] startup +[2.435s] [ext: omni.kit.commands-1.4.10] startup +[2.439s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.443s] [ext: omni.activity.core-1.0.3] startup +[2.444s] [ext: omni.resourcemonitor-107.0.1] startup +[2.446s] [ext: omni.timeline-1.0.14] startup +[2.448s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.450s] [ext: usdrt.scenegraph-7.6.1] startup +[2.491s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.492s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.500s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.507s] [ext: omni.usd-1.13.10] startup +[2.536s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.550s] [ext: omni.index.libs-380600.8087.0] startup +[2.550s] [ext: omni.volume-0.5.2] startup +[2.553s] [ext: omni.ujitso.client-0.0.0] startup +[2.553s] [ext: omni.index-1.0.1] startup +[2.554s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.555s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T20:15:50Z [2,554ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.599s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.602s] [ext: omni.kit.clipboard-1.0.5] startup +[2.602s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.606s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.612s] [ext: omni.kit.menu.core-1.1.2] startup +[2.613s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.616s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.618s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.619s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.620s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.620s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.625s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.626s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.635s] [ext: omni.ui.scene-1.11.5] startup +[2.639s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.640s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.655s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.662s] [ext: omni.kit.context_menu-1.8.6] startup +[2.664s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.670s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.674s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.676s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.677s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.678s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.682s] [ext: omni.kit.material.library-2.0.7] startup +[2.687s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.690s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.692s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.708s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.712s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.717s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.718s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.722s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.726s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.727s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.729s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.731s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.732s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.733s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.739s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.742s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.743s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.745s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.746s] [ext: omni.fabric.commands-1.1.6] startup +[2.749s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.750s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.751s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.753s] [ext: omni.debugdraw-0.1.4] startup +[2.757s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.768s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.769s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.769s] [ext: omni.kvdb-107.3.26] startup +[2.771s] [ext: omni.convexdecomposition-107.3.26] startup +[2.774s] [ext: omni.physx.foundation-107.3.26] startup +[2.776s] [ext: omni.localcache-107.3.26] startup +[2.777s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.778s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.778s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.779s] [ext: omni.usdphysics-107.3.26] startup +[2.782s] [ext: omni.kit.window.file-2.0.5] startup +[2.784s] [ext: omni.physx.cooking-107.3.26] startup +[2.788s] [ext: omni.physics-107.3.26] startup +[2.792s] [ext: omni.kit.window.property-1.12.1] startup +[2.794s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.806s] [ext: omni.physx-107.3.26] startup +[2.817s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.819s] [ext: omni.kit.property.usd-4.5.12] startup +[2.830s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.831s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T20:15:50Z [2,807ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.834s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.834s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.848s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.852s] [ext: omni.inspect-1.0.2] startup +[2.854s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.865s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.866s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.874s] [ext: omni.graph.core-2.184.5] startup +[2.878s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.879s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.907s] [ext: omni.physx.commands-107.3.26] startup +[2.911s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.912s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T20:15:50Z [2,892ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.919s] [ext: omni.physx.ui-107.3.26] startup +[2.952s] [ext: isaacsim.core.version-2.0.6] startup +[2.953s] [ext: omni.physics.tensors-107.3.26] startup +[2.958s] [ext: omni.warp.core-1.8.2] startup +[3.153s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.155s] [ext: isaacsim.storage.native-1.5.1] startup +[3.157s] [ext: omni.physx.tensors-107.3.26] startup +[3.163s] [ext: isaacsim.core.utils-3.5.1] startup +[3.167s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.621s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.622s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.624s] [ext: omni.kit.window.stage-2.6.1] startup +[4.628s] [ext: omni.kit.menu.create-2.0.1] startup +[4.629s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.635s] [ext: omni.kit.scripting-107.3.2] startup +[4.639s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.643s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.644s] [ext: omni.graph.tools-1.79.2] startup +[4.665s] [ext: omni.ui_query-1.1.8] startup +[4.666s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.666s] [ext: omni.graph-1.141.2] startup +[4.710s] [ext: omni.graph.action_core-1.1.7] startup +[4.712s] [ext: omni.kit.ui_test-1.3.7] startup +[4.715s] [ext: omni.kit.browser.core-2.3.13] startup +[4.720s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.724s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.728s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.733s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.746s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.751s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.766s] [ext: omni.graph.action-1.130.0] startup +[4.771s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.778s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.808s] [ext: isaacsim.gui.components-1.2.1] startup +[4.819s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.829s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.984s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.992s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.004s] [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( +[5.103s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T20:15:52Z [5,085ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.114s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.117s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.122s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.129s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.134s] [ext: omni.graph.image.core-0.6.1] startup +[5.136s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.137s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.140s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.144s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.147s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.149s] [ext: omni.graph.nodes-1.170.10] startup +[5.160s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.166s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.172s] [ext: omni.syntheticdata-0.6.13] startup +[5.210s] [ext: omni.videoencoding-0.1.2] startup +[5.213s] [ext: omni.warp-1.8.2] startup +[5.225s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.250s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.260s] [ext: isaacsim.core.prims-0.6.1] startup +[5.307s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.324s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T20:15:53Z [5,477ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T20:15:53Z [5,477ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T20:15:53Z [5,479ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.513s] [ext: isaacsim.core.api-4.8.0] startup +[5.566s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.666s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.690s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.722s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.737s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.758s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.785s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.796s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.810s] [ext: omni.sensors.net-1.0.0] startup +[5.819s] [ext: isaacsim.app.about-2.0.11] startup +[5.825s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.828s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.836s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.850s] [ext: omni.kit.property.audio-1.0.16] startup +[5.860s] [ext: omni.kit.property.camera-1.0.10] startup +[5.866s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.877s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.886s] [ext: omni.kit.property.light-1.0.12] startup +[5.925s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.929s] [ext: omni.kit.selection-0.1.6] startup +[5.937s] [ext: omni.kit.property.material-1.11.9] startup +[5.987s] [ext: omni.kit.property.transform-1.5.13] startup +[6.007s] [ext: omni.kit.property.render-1.2.1] startup +[6.015s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.030s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.111s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.139s] [ext: isaacsim.gui.property-1.1.3] startup +[6.159s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.168s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.195s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.214s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.303s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.344s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.535s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.670s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.700s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.853s] [ext: omni.kit.window.console-1.1.4] startup +[7.052s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.084s] [ext: omni.ocio-0.1.1] startup +[7.093s] [ext: omni.physx.demos-107.3.26] startup +[7.229s] [ext: omni.kit.property.physx-107.3.26] startup +[7.295s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.332s] [ext: omni.asset_validator.core-1.1.6] startup +[7.453s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.461s] [ext: omni.physx.vehicle-107.3.26] startup +[7.493s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.515s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.523s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.534s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.549s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.561s] [ext: omni.physx.camera-107.3.26] startup +[7.588s] [ext: omni.anim.curve.core-1.3.1] startup +[7.613s] [ext: omni.physx.cct-107.3.26] startup +[7.635s] [ext: omni.physx.graph-107.3.26] startup +[7.664s] [ext: omni.physx.supportui-107.3.26] startup +[7.702s] [ext: omni.physx.telemetry-107.3.26] startup +[7.721s] [ext: isaaclab-0.54.3] startup +[8.128s] [ext: isaaclab_contrib-0.0.2] startup +[8.137s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.141s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.146s] [ext: semantics.schema.property-2.0.1] startup +[8.149s] [ext: omni.physx.bundle-107.3.26] startup +[8.154s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.160s] [ext: isaaclab_assets-0.2.4] startup +[8.478s] [ext: isaaclab_tasks-0.11.14] startup +[8.654s] [ext: omni.kit.menu.common-2.0.1] startup +[8.657s] [ext: isaaclab_rl-0.5.0] startup +[8.659s] [ext: isaaclab_mimic-1.0.16] startup +[8.661s] [ext: isaaclab.python-2.3.2] startup +[8.665s] Simulation App Starting +2026-07-23T20:15:56Z [8,729ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T20:15:56Z [8,734ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T20:15:56Z [8,734ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T20:15:56Z [8,734ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T20:15:56Z [8,768ms] [Warning] [omni.fabric.plugin] Warning: attribute resolution not found for bucket id 9 + +[8.827s] app ready +2026-07-23T20:15:57Z [9,873ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T20:15:57Z [9,874ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T20:15:57Z [9,874ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T20:15:57Z [9,874ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.373s] 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=26 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=26 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_04-16-20.log +====================================================================================== + +04:16:20 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 26 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T20:16:20Z [33,013ms] [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 +2026-07-23T20:16:20Z [33,120ms] [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. +2026-07-23T20:16:20Z [33,136ms] [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. +2026-07-23T20:16:20Z [33,148ms] [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 : 0.455998 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T20:16:20Z [33,167ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +2026-07-23T20:16:20Z [33,174ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +2026-07-23T20:16:21Z [33,646ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +2026-07-23T20:16:21Z [33,646ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +2026-07-23T20:16:21Z [33,649ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +2026-07-23T20:16:21Z [33,650ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +2026-07-23T20:16:21Z [33,650ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +2026-07-23T20:16:21Z [33,650ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562e8eea9bb0:World0.usd@ <0x562e8eeaabb0>) + +[INFO]: Time taken for simulation start : 0.723425 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T20:16:30Z [42,614ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T20:16:30Z [43,177ms] [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 +2026-07-23T20:16:30Z [43,177ms] [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 +2026-07-23T20:16:30Z [43,177ms] [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 +2026-07-23T20:16:30Z [43,177ms] [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 +2026-07-23T20:16:42Z [54,336ms] [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=26 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.050315000116825104, -0.1732500046491623, 0.7724999785423279], 'quat': [0.9999330043792725, -9.999999974752427e-07, 0.0, 0.011607999913394451]}, 't1': {'center': [0.07684200257062912, -0.16117699444293976, 0.7724999785423279], 'quat': [-0.6494160294532776, 9.999999974752427e-07, -9.999999974752427e-07, 0.7604339718818665]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.0502999983727932, -0.17319999635219574, 0.7724999785423279] pick_tcp=[-0.040300000458955765, -0.17299999296665192, 0.7724999785423279] waypoints=40 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0151 tracking_error=0.0157 gripper_position=0.1421 secured=True +[collect][auto_swap_T] left_stage observed=[-0.06319999694824219, -0.1655000001192093, 0.7738999724388123] target=[-0.16979999840259552, -0.18459999561309814, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1079 tracking_error=0.0007 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.1695999950170517, -0.18389999866485596, 0.7738999724388123] lifted=0.0014 ee_to_object_pos=[0.1492999941110611, -0.00019999999494757503, -0.012000000104308128] +[collect][auto_swap_T] right_pick label=t1 center=[0.07680000364780426, -0.16120000183582306, 0.7724999785423279] pick_tcp=[0.07530000060796738, -0.17110000550746918, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0139 tracking_error=0.0134 gripper_position=0.2466 secured=True +[collect][auto_swap_T] right_stage observed=[0.08900000154972076, -0.15440000593662262, 0.7735000252723694] target=[0.19629999995231628, -0.14980000257492065, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1112 tracking_error=0.0041 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.20020000636577606, -0.1509999930858612, 0.7736999988555908] lifted=0.0012 ee_to_object_pos=[0.14990000426769257, 0.0005000000237487257, 0.010700000450015068] +[collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0003 z=0.0001 yaw_deg=-34.27 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0003 z=0.0001 yaw_deg=-0.19 +[collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_align step=60 xy=0.1824 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect][auto_swap_T] left_align step=80 xy=0.0974 z=0.0001 yaw_deg=-0.03 +[collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0129 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect][auto_swap_T] left_align step=103 xy=0.0035 z=0.0007 yaw_deg=0.04 +[collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect][auto_swap_T] left_release step=108 xy=0.0004 z=0.0004 yaw_deg=0.02 +[collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect][auto_swap_T] left_release step=120 xy=0.0004 z=0.0040 yaw_deg=0.22 +[collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect][auto_swap_T] left_feedback released center=[0.07670000195503235, -0.1615999937057495, 0.7724999785423279] quat=[-0.6478999853134155, 0.0, -0.0, 0.7616999745368958] +[collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.2078000009059906, -0.1420000046491623, 0.7756999731063843] lifted=0.0032 ee_to_object_pos=[0.1509999930858612, -0.00019999999494757503, 0.010700000450015068] +[collect][auto_swap_T] right_detour obstacle=[0.07680000364780426, -0.16120000183582306, 0.7724999785423279] waypoint=[0.062300000339746475, -0.008100000210106373, 0.7756999731063843] clearance=0.1537 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.0502999983727932, -0.17319999635219574, 0.7724999785423279] waypoints=49 +[collect][auto_swap_T] phase=right_place waypoints=49 +[collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.06 +[collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0002 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0005 yaw_deg=-0.02 +[collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0002 z=0.0040 yaw_deg=-0.10 +[collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect][auto_swap_T] right_feedback released center=[-0.05009999871253967, -0.17339999973773956, 0.7724999785423279] quat=[0.9998999834060669, -0.0, 0.0, 0.012500000186264515] +[collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.076705, -0.161598, 0.7725], 'quat': [-0.647924, 2e-06, -1e-06, 0.761705]}, 't1': {'pos': [-0.050147, -0.173431, 0.7725], 'quat': [0.999922, -3e-06, 0.0, 0.012509]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_finalv6_seed26_official400.hdf5 +2026-07-23T20:18:15Z [147,942ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T20:18:15Z [147,942ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[148.354s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_finalv6_seed5_official400.log b/yzr/swap_T/logs/swap_T_finalv6_seed5_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..e3b0b7b5e7877443fc2fd532943278d670bf92ab --- /dev/null +++ b/yzr/swap_T/logs/swap_T_finalv6_seed5_official400.log @@ -0,0 +1,822 @@ +[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_035724.log +[0.059s] [ext: omni.kit.async_engine-0.0.3] startup +[0.233s] [ext: omni.metrics.core-0.0.3] startup +[0.233s] [ext: omni.client.lib-1.1.0] startup +[0.247s] [ext: omni.blobkey-1.1.2] startup +[0.248s] [ext: omni.stats-1.0.1] startup +[0.248s] [ext: omni.datastore-0.0.0] startup +[0.254s] [ext: omni.client-1.3.0] startup +[0.258s] [ext: omni.ujitso.default-1.0.0] startup +[0.260s] [ext: omni.hsscclient-1.1.2] startup +[0.281s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.283s] [ext: omni.assets.plugins-0.0.0] startup +[0.284s] [ext: omni.gpu_foundation-0.0.0] startup +[0.291s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T19:57:24Z [265ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:57:24Z [265ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.292s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T19:57:24Z [374ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T19:57:24Z [381ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T19:57:24Z [381ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T19:57:24Z [381ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T19:57:24Z [393ms] [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. +2026-07-23T19:57:26Z [1,755ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:57:26Z [1,755ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:57:26Z [1,771ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:57:26Z [1,771ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:57:26Z [1,792ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:57:26Z [1,792ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:57:26Z [1,793ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:57:26Z [1,793ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:57:26Z [1,793ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:57:26Z [1,793ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T19:57:26Z [1,793ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T19:57:26Z [1,793ms] [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: 19819 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.668s] [ext: omni.materialx.libs-1.0.7] startup +[3.686s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.688s] [ext: omni.kit.test-2.0.1] startup +[3.752s] [ext: omni.kit.pipapi-0.0.0] startup +[3.753s] [ext: omni.usd.config-1.0.6] startup +[3.756s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.757s] [ext: omni.usd.libs-1.0.1] startup +[3.867s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.867s] [ext: omni.mdl-56.0.3] startup +[3.890s] [ext: omni.iray.libs-0.0.0] startup +[3.896s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.898s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.000s] [ext: omni.kit.telemetry-0.5.2] startup +[4.054s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T19:57:28Z [4,029ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:57:28Z [4,029ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.061s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T19:57:28Z [4,080ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:57:28Z [4,080ms] [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) +2026-07-23T19:57:28Z [4,092ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:57:28Z [4,092ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.121s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.130s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T19:57:28Z [4,109ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:57:28Z [4,109ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T19:57:28Z [4,110ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:57:28Z [4,110ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T19:57:28Z [4,111ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:57:28Z [4,111ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.222s] [ext: omni.ui-2.27.1] startup +[4.233s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.234s] [ext: carb.audio-0.1.0] startup +[4.262s] [ext: omni.uiaudio-1.0.0] startup +[4.263s] [ext: omni.kit.uiapp-0.0.0] startup +[4.263s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.266s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.274s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.277s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.281s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.284s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.314s] [ext: omni.usd_resolver-1.0.0] startup +[4.319s] [ext: omni.usd.core-1.5.3] startup +[4.322s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.347s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.356s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.390s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.391s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.391s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.397s] [ext: omni.graph.exec-0.9.6] startup +[4.398s] [ext: omni.kit.actions.core-1.0.0] startup +[4.400s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.401s] [ext: omni.kit.exec.core-0.13.4] startup +[4.403s] [ext: omni.kit.commands-1.4.10] startup +[4.406s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.410s] [ext: omni.activity.core-1.0.3] startup +[4.411s] [ext: omni.resourcemonitor-107.0.1] startup +[4.413s] [ext: omni.timeline-1.0.14] startup +[4.415s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.417s] [ext: usdrt.scenegraph-7.6.1] startup +[4.457s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.458s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.466s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.473s] [ext: omni.usd-1.13.10] startup +[4.500s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.512s] [ext: omni.index.libs-380600.8087.0] startup +[4.513s] [ext: omni.volume-0.5.2] startup +[4.515s] [ext: omni.ujitso.client-0.0.0] startup +[4.516s] [ext: omni.index-1.0.1] startup +[4.516s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.517s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T19:57:29Z [4,511ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.556s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.558s] [ext: omni.kit.clipboard-1.0.5] startup +[4.559s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.562s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.569s] [ext: omni.kit.menu.core-1.1.2] startup +[4.569s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.572s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.574s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.575s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.576s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.576s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.581s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.581s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.590s] [ext: omni.ui.scene-1.11.5] startup +[4.594s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.595s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.609s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.617s] [ext: omni.kit.context_menu-1.8.6] startup +[4.619s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.625s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.629s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.631s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.632s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.632s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.636s] [ext: omni.kit.material.library-2.0.7] startup +[4.641s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.644s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.646s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.661s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.666s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.671s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.672s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.676s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.680s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.681s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.683s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.684s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.685s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.686s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.692s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.695s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.696s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.698s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.699s] [ext: omni.fabric.commands-1.1.6] startup +[4.702s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.703s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.704s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.705s] [ext: omni.debugdraw-0.1.4] startup +[4.710s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.721s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.721s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.721s] [ext: omni.kvdb-107.3.26] startup +[4.723s] [ext: omni.convexdecomposition-107.3.26] startup +[4.726s] [ext: omni.physx.foundation-107.3.26] startup +[4.728s] [ext: omni.localcache-107.3.26] startup +[4.729s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.730s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.730s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.731s] [ext: omni.usdphysics-107.3.26] startup +[4.733s] [ext: omni.kit.window.file-2.0.5] startup +[4.736s] [ext: omni.physx.cooking-107.3.26] startup +[4.740s] [ext: omni.physics-107.3.26] startup +[4.743s] [ext: omni.kit.window.property-1.12.1] startup +[4.746s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.757s] [ext: omni.physx-107.3.26] startup +[4.768s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.770s] [ext: omni.kit.property.usd-4.5.12] startup +[4.781s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.782s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T19:57:29Z [4,757ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[4.784s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.785s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.798s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.802s] [ext: omni.inspect-1.0.2] startup +[4.804s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.815s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.816s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.824s] [ext: omni.graph.core-2.184.5] startup +[4.827s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.829s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.858s] [ext: omni.physx.commands-107.3.26] startup +[4.863s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.864s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T19:57:29Z [4,843ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.870s] [ext: omni.physx.ui-107.3.26] startup +[4.904s] [ext: isaacsim.core.version-2.0.6] startup +[4.904s] [ext: omni.physics.tensors-107.3.26] startup +[4.909s] [ext: omni.warp.core-1.8.2] startup +[5.102s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.104s] [ext: isaacsim.storage.native-1.5.1] startup +[5.106s] [ext: omni.physx.tensors-107.3.26] startup +[5.112s] [ext: isaacsim.core.utils-3.5.1] startup +[5.115s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.663s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.665s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.667s] [ext: omni.kit.window.stage-2.6.1] startup +[6.671s] [ext: omni.kit.menu.create-2.0.1] startup +[6.673s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.679s] [ext: omni.kit.scripting-107.3.2] startup +[6.684s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.687s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.688s] [ext: omni.graph.tools-1.79.2] startup +[6.710s] [ext: omni.ui_query-1.1.8] startup +[6.711s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.711s] [ext: omni.graph-1.141.2] startup +[6.755s] [ext: omni.graph.action_core-1.1.7] startup +[6.757s] [ext: omni.kit.ui_test-1.3.7] startup +[6.762s] [ext: omni.kit.browser.core-2.3.13] startup +[6.766s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.770s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.775s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.780s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.794s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.799s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.814s] [ext: omni.graph.action-1.130.0] startup +[6.817s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.823s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.832s] [ext: isaacsim.gui.components-1.2.1] startup +[6.842s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.849s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.980s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.987s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.999s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.084s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T19:57:31Z [7,060ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.089s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.092s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.096s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.104s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.108s] [ext: omni.graph.image.core-0.6.1] startup +[7.110s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.111s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.113s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.117s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.120s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.122s] [ext: omni.graph.nodes-1.170.10] startup +[7.134s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.140s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.146s] [ext: omni.syntheticdata-0.6.13] startup +[7.179s] [ext: omni.videoencoding-0.1.2] startup +[7.185s] [ext: omni.warp-1.8.2] startup +[7.192s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.213s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.218s] [ext: isaacsim.core.prims-0.6.1] startup +[7.260s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.269s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T19:57:32Z [7,439ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T19:57:32Z [7,439ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T19:57:32Z [7,441ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.480s] [ext: isaacsim.core.api-4.8.0] startup +[7.569s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.640s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.659s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.673s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.682s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.702s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.710s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.729s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.739s] [ext: omni.sensors.net-1.0.0] startup +[7.748s] [ext: isaacsim.app.about-2.0.11] startup +[7.756s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.764s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.773s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.786s] [ext: omni.kit.property.audio-1.0.16] startup +[7.795s] [ext: omni.kit.property.camera-1.0.10] startup +[7.805s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.818s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.921s] [ext: omni.kit.property.light-1.0.12] startup +[7.960s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.965s] [ext: omni.kit.selection-0.1.6] startup +[7.972s] [ext: omni.kit.property.material-1.11.9] startup +[8.059s] [ext: omni.kit.property.transform-1.5.13] startup +[8.098s] [ext: omni.kit.property.render-1.2.1] startup +[8.112s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.129s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.186s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.259s] [ext: isaacsim.gui.property-1.1.3] startup +[8.287s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.326s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.456s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.713s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[9.080s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[9.103s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[9.130s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[9.146s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[9.154s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.189s] [ext: omni.kit.window.console-1.1.4] startup +[9.206s] [ext: omni.rtx.window.settings-0.6.19] startup +[9.224s] [ext: omni.ocio-0.1.1] startup +[9.228s] [ext: omni.physx.demos-107.3.26] startup +[9.282s] [ext: omni.kit.property.physx-107.3.26] startup +[9.330s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.363s] [ext: omni.asset_validator.core-1.1.6] startup +[9.466s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.473s] [ext: omni.physx.vehicle-107.3.26] startup +[9.503s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.516s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.521s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.529s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.539s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.546s] [ext: omni.physx.camera-107.3.26] startup +[9.561s] [ext: omni.anim.curve.core-1.3.1] startup +[9.577s] [ext: omni.physx.cct-107.3.26] startup +[9.593s] [ext: omni.physx.graph-107.3.26] startup +[9.619s] [ext: omni.physx.supportui-107.3.26] startup +[9.651s] [ext: omni.physx.telemetry-107.3.26] startup +[9.653s] [ext: isaaclab-0.54.3] startup +[10.043s] [ext: isaaclab_contrib-0.0.2] startup +[10.045s] [ext: isaacsim.core.throttling-2.2.2] startup +[10.048s] [ext: omni.kit.ui.actions-1.0.5] startup +[10.053s] [ext: semantics.schema.property-2.0.1] startup +[10.057s] [ext: omni.physx.bundle-107.3.26] startup +[10.061s] [ext: isaacsim.sensors.camera-1.3.6] startup +[10.066s] [ext: isaaclab_assets-0.2.4] startup +[10.367s] [ext: isaaclab_tasks-0.11.14] startup +[10.537s] [ext: omni.kit.menu.common-2.0.1] startup +[10.540s] [ext: isaaclab_rl-0.5.0] startup +[10.543s] [ext: isaaclab_mimic-1.0.16] startup +[10.545s] [ext: isaaclab.python-2.3.2] startup +[10.548s] Simulation App Starting +2026-07-23T19:57:35Z [10,609ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T19:57:35Z [10,614ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T19:57:35Z [10,614ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T19:57:35Z [10,614ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T19:57:35Z [10,643ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[10.698s] app ready +2026-07-23T19:57:36Z [11,687ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T19:57:36Z [11,687ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T19:57:36Z [11,687ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T19:57:36Z [11,687ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[15.172s] 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=5 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=5 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_03-57-57.log +====================================================================================== + +03:57:57 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 5 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T19:57:57Z [32,937ms] [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 +2026-07-23T19:57:57Z [33,009ms] [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. +2026-07-23T19:57:57Z [33,026ms] [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. +2026-07-23T19:57:57Z [33,038ms] [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 : 0.360710 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T19:57:57Z [33,053ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +2026-07-23T19:57:57Z [33,060ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +2026-07-23T19:57:58Z [33,510ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +2026-07-23T19:57:58Z [33,510ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +2026-07-23T19:57:58Z [33,512ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +2026-07-23T19:57:58Z [33,513ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +2026-07-23T19:57:58Z [33,513ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +2026-07-23T19:57:58Z [33,514ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x560f85465c10:World0.usd@ <0x560f85466c10>) + +[INFO]: Time taken for simulation start : 0.694729 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T19:58:05Z [41,270ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T19:58:06Z [41,720ms] [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 +2026-07-23T19:58:06Z [41,720ms] [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 +2026-07-23T19:58:06Z [41,720ms] [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 +2026-07-23T19:58:06Z [41,720ms] [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 +2026-07-23T19:58:17Z [52,753ms] [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=5 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.05965999886393547, -0.16762900352478027, 0.7724999785423279], 'quat': [0.7562220096588135, -0.0, -0.0, 0.6543149948120117]}, 't1': {'center': [0.054409001022577286, -0.18255400657653809, 0.7724999785423279], 'quat': [0.5799850225448608, 0.0, 0.0, 0.8146269917488098]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.059700001031160355, -0.16760000586509705, 0.7724999785423279] pick_tcp=[-0.05820000171661377, -0.15770000219345093, 0.7724999785423279] waypoints=40 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0001 tracking_error=0.0249 gripper_position=0.3615 secured=False +[collect][auto_swap_T] left_pick label=t0 center=[-0.059700001031160355, -0.16760000586509705, 0.7724999785423279] pick_tcp=[-0.05829999968409538, -0.15770000219345093, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] left_pickup_retry reason=probe offset_deg=15.0 waypoints=32 +[collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0212 tracking_error=0.0044 gripper_position=0.3587 secured=True +[collect][auto_swap_T] left_stage observed=[-0.0803999975323677, -0.16290000081062317, 0.7724999785423279] target=[-0.1785999983549118, -0.15209999680519104, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=left_stage waypoints=12 +[collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1036 tracking_error=0.0060 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.18279999494552612, -0.1476999968290329, 0.772599995136261] lifted=0.0001 ee_to_object_pos=[0.149399995803833, -9.999999747378752e-05, -0.015799999237060547] +[collect][auto_swap_T] right_pick label=t1 center=[0.0544000007212162, -0.1826000064611435, 0.7724999785423279] pick_tcp=[0.051100000739097595, -0.17309999465942383, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0090 tracking_error=0.0160 gripper_position=0.2867 secured=True +[collect][auto_swap_T] right_stage observed=[0.06319999694824219, -0.18449999392032623, 0.7732999920845032] target=[0.17339999973773956, -0.1981000006198883, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1172 tracking_error=0.0063 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.17970000207424164, -0.19750000536441803, 0.7732999920845032] lifted=0.0008 ee_to_object_pos=[0.14910000562667847, 0.00039999998989515007, -0.017000000923871994] +[collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0001 z=0.0000 yaw_deg=11.62 +[collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_rotate step=27 xy=0.0001 z=0.0001 yaw_deg=0.12 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect][auto_swap_T] left_align step=40 xy=0.2028 z=0.0003 yaw_deg=0.02 +[collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect][auto_swap_T] left_align step=60 xy=0.1172 z=0.0001 yaw_deg=-0.01 +[collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect][auto_swap_T] left_align step=80 xy=0.0321 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect][auto_swap_T] left_align step=90 xy=0.0035 z=0.0002 yaw_deg=-0.41 +[collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect][auto_swap_T] left_release step=95 xy=0.0006 z=0.0000 yaw_deg=-0.07 +[collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect][auto_swap_T] left_release step=100 xy=0.0004 z=0.0005 yaw_deg=-0.19 +[collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect][auto_swap_T] left_feedback released center=[0.054099999368190765, -0.18209999799728394, 0.7724999785423279] quat=[0.5791000127792358, 0.0, 0.0, 0.8152999877929688] +[collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.18950000405311584, -0.19589999318122864, 0.7734000086784363] lifted=0.0009 ee_to_object_pos=[0.14980000257492065, -0.00019999999494757503, -0.017100000753998756] +[collect][auto_swap_T] right_detour obstacle=[0.0544000007212162, -0.1826000064611435, 0.7724999785423279] waypoint=[0.07419999688863754, -0.03150000050663948, 0.7734000086784363] clearance=0.1523 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.059700001031160355, -0.16760000586509705, 0.7724999785423279] waypoints=47 +[collect][auto_swap_T] phase=right_place waypoints=47 +[collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.66 +[collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect][auto_swap_T] right_align step=7 xy=0.0025 z=0.0023 yaw_deg=0.07 +[collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect][auto_swap_T] right_release step=12 xy=0.0003 z=0.0008 yaw_deg=-0.02 +[collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0002 z=0.0040 yaw_deg=-0.22 +[collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect][auto_swap_T] right_feedback released center=[-0.05950000137090683, -0.16750000417232513, 0.7724999785423279] quat=[0.7549999952316284, -0.0, -0.0, 0.6557000279426575] +[collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.054052, -0.182114, 0.7725], 'quat': [0.579104, 0.0, 0.0, 0.815253]}, 't1': {'pos': [-0.059517, -0.167529, 0.7725], 'quat': [0.754989, -1e-06, -2e-06, 0.655738]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_finalv6_seed5_official400.hdf5 +2026-07-23T19:59:52Z [147,882ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T19:59:52Z [147,882ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[148.272s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_generalized10_item02_seed0.log b/yzr/swap_T/logs/swap_T_generalized10_item02_seed0.log new file mode 100644 index 0000000000000000000000000000000000000000..2be792b8d1ff762ef0199df9d6c4d0b223a59ccb --- /dev/null +++ b/yzr/swap_T/logs/swap_T_generalized10_item02_seed0.log @@ -0,0 +1,828 @@ +[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_20260723_210108.log +[0.087s] [ext: omni.kit.async_engine-0.0.3] startup +[0.292s] [ext: omni.metrics.core-0.0.3] startup +[0.292s] [ext: omni.client.lib-1.1.0] startup +[0.308s] [ext: omni.blobkey-1.1.2] startup +[0.308s] [ext: omni.stats-1.0.1] startup +[0.309s] [ext: omni.datastore-0.0.0] startup +[0.316s] [ext: omni.client-1.3.0] startup +[0.323s] [ext: omni.ujitso.default-1.0.0] startup +[0.325s] [ext: omni.hsscclient-1.1.2] startup +[0.349s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.351s] [ext: omni.assets.plugins-0.0.0] startup +[0.352s] [ext: omni.gpu_foundation-0.0.0] startup +[0.359s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T13:01:08Z [335ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:01:08Z [335ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.361s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T13:01:08Z [570ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T13:01:08Z [571ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T13:01:08Z [571ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T13:01:08Z [571ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T13:01:11Z [3,498ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T13:01:11Z [3,498ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T13:01:11Z [3,499ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T13:01:11Z [3,499ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T13:01:11Z [3,507ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T13:01:11Z [3,507ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T13:01:11Z [3,508ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T13:01:11Z [3,508ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T13:01:11Z [3,508ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T13:01:11Z [3,508ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T13:01:11Z [3,508ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T13:01:11Z [3,508ms] [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 | Yes: 0 | | 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: 50371 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[4.841s] [ext: omni.materialx.libs-1.0.7] startup +[4.850s] [ext: omni.kit.loop-isaac-1.3.7] startup +[4.851s] [ext: omni.kit.test-2.0.1] startup +[4.895s] [ext: omni.kit.pipapi-0.0.0] startup +[4.895s] [ext: omni.usd.config-1.0.6] startup +[4.899s] [ext: omni.gpucompute.plugins-0.0.0] startup +[4.899s] [ext: omni.usd.libs-1.0.1] startup +[5.007s] [ext: omni.kit.pip_archive-0.0.0] startup +[5.007s] [ext: omni.mdl-56.0.3] startup +[5.029s] [ext: omni.iray.libs-0.0.0] startup +[5.035s] [ext: omni.mdl.neuraylib-0.2.12] startup +[5.037s] [ext: omni.kit.usd.mdl-1.1.5] startup +[5.138s] [ext: omni.kit.telemetry-0.5.2] startup +[5.173s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T13:01:13Z [5,150ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:01:13Z [5,150ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[5.177s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T13:01:13Z [5,211ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:01:13Z [5,211ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T13:01:13Z [5,242ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:01:13Z [5,242ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[5.269s] [ext: omni.kit.renderer.capture-0.0.0] startup +[5.271s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T13:01:13Z [5,249ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:01:13Z [5,249ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T13:01:13Z [5,251ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:01:13Z [5,251ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T13:01:13Z [5,252ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:01:13Z [5,252ms] [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) +[5.373s] [ext: omni.ui-2.27.1] startup +[5.384s] [ext: omni.kit.mainwindow-1.0.3] startup +[5.385s] [ext: carb.audio-0.1.0] startup +[5.414s] [ext: omni.uiaudio-1.0.0] startup +[5.415s] [ext: omni.kit.uiapp-0.0.0] startup +[5.415s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[5.418s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[5.425s] [ext: omni.usd.schema.semantics-0.0.0] startup +[5.428s] [ext: omni.usd.schema.audio-0.0.0] startup +[5.432s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[5.435s] [ext: omni.usd.schema.anim-0.0.0] startup +[5.458s] [ext: omni.usd_resolver-1.0.0] startup +[5.463s] [ext: omni.usd.core-1.5.3] startup +[5.466s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[5.490s] [ext: isaacsim.robot.schema-3.6.0] startup +[5.499s] [ext: omni.usd.schema.physx-107.3.26] startup +[5.533s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[5.533s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[5.534s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[5.539s] [ext: omni.graph.exec-0.9.6] startup +[5.540s] [ext: omni.kit.actions.core-1.0.0] startup +[5.542s] [ext: omni.kit.usd_undo-0.1.8] startup +[5.542s] [ext: omni.kit.exec.core-0.13.4] startup +[5.544s] [ext: omni.kit.commands-1.4.10] startup +[5.547s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[5.551s] [ext: omni.activity.core-1.0.3] startup +[5.553s] [ext: omni.resourcemonitor-107.0.1] startup +[5.555s] [ext: omni.timeline-1.0.14] startup +[5.556s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[5.558s] [ext: usdrt.scenegraph-7.6.1] startup +[5.598s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[5.599s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[5.607s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[5.613s] [ext: omni.usd-1.13.10] startup +[5.640s] [ext: omni.kit.asset_converter-5.0.17] startup +[5.653s] [ext: omni.index.libs-380600.8087.0] startup +[5.653s] [ext: omni.volume-0.5.2] startup +[5.656s] [ext: omni.ujitso.client-0.0.0] startup +[5.656s] [ext: omni.index-1.0.1] startup +[5.657s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[5.658s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T13:01:13Z [5,654ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[5.697s] [ext: omni.kit.notification_manager-1.0.10] startup +[5.699s] [ext: omni.kit.clipboard-1.0.5] startup +[5.699s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[5.702s] [ext: omni.kit.raycast.query-1.1.0] startup +[5.709s] [ext: omni.kit.menu.core-1.1.2] startup +[5.709s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[5.712s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[5.714s] [ext: omni.kit.widget.path_field-2.0.11] startup +[5.714s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[5.715s] [ext: omni.kit.widget.options_button-1.0.3] startup +[5.716s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[5.720s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[5.721s] [ext: omni.kit.usd.layers-2.2.11] startup +[5.729s] [ext: omni.ui.scene-1.11.5] startup +[5.733s] [ext: omni.kit.viewport.registry-104.0.6] startup +[5.734s] [ext: omni.kit.window.filepicker-2.13.4] startup +[5.748s] [ext: omni.kit.menu.utils-2.0.5] startup +[5.755s] [ext: omni.kit.context_menu-1.8.6] startup +[5.756s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[5.762s] [ext: omni.kit.hydra_texture-1.4.6] startup +[5.766s] [ext: omni.kit.window.file_importer-1.1.18] startup +[5.769s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[5.770s] [ext: omni.kit.window.drop_support-1.0.5] startup +[5.770s] [ext: omni.kit.widget.viewport-107.1.3] startup +[5.774s] [ext: omni.kit.material.library-2.0.7] startup +[5.779s] [ext: omni.hydra.engine.stats-1.0.3] startup +[5.782s] [ext: omni.kit.widget.settings-1.2.6] startup +[5.784s] [ext: omni.kit.viewport.window-107.2.0] startup +[5.799s] [ext: omni.kit.window.preferences-1.8.0] startup +[5.803s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[5.808s] [ext: omni.kit.viewport.utility-1.1.2] startup +[5.809s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[5.813s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[5.817s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[5.818s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[5.820s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[5.821s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[5.822s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[5.823s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[5.829s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[5.832s] [ext: omni.kit.widget.filter-1.1.4] startup +[5.833s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[5.835s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[5.836s] [ext: omni.fabric.commands-1.1.6] startup +[5.839s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[5.840s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[5.841s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[5.842s] [ext: omni.debugdraw-0.1.4] startup +[5.846s] [ext: omni.kit.widget.stage-3.1.4] startup +[5.857s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[5.858s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[5.858s] [ext: omni.kvdb-107.3.26] startup +[5.859s] [ext: omni.convexdecomposition-107.3.26] startup +[5.863s] [ext: omni.physx.foundation-107.3.26] startup +[5.864s] [ext: omni.localcache-107.3.26] startup +[5.866s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[5.866s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[5.867s] [ext: omni.kit.stage_template.core-1.1.22] startup +[5.868s] [ext: omni.usdphysics-107.3.26] startup +[5.870s] [ext: omni.kit.window.file-2.0.5] startup +[5.873s] [ext: omni.physx.cooking-107.3.26] startup +[5.876s] [ext: omni.physics-107.3.26] startup +[5.880s] [ext: omni.kit.window.property-1.12.1] startup +[5.882s] [ext: omni.kit.window.content_browser-3.1.3] startup +[5.894s] [ext: omni.physx-107.3.26] startup +[5.904s] [ext: omni.physics.stageupdate-107.3.26] startup +[5.906s] [ext: omni.kit.property.usd-4.5.12] startup +[5.917s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[5.918s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T13:01:14Z [5,894ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[5.920s] [ext: omni.kit.widget.prompt-1.0.7] startup +[5.921s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[5.934s] [ext: omni.kit.viewport.actions-107.0.2] startup +[5.938s] [ext: omni.inspect-1.0.2] startup +[5.939s] [ext: omni.kit.widget.layers-1.8.6] startup +[5.950s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[5.952s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[5.959s] [ext: omni.graph.core-2.184.5] startup +[5.962s] [ext: omni.kit.numpy.common-0.1.3] startup +[5.963s] [ext: omni.usdphysics.ui-107.3.26] startup +[5.991s] [ext: omni.physx.commands-107.3.26] startup +[5.995s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[5.995s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T13:01:14Z [5,976ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[6.002s] [ext: omni.physx.ui-107.3.26] startup +[6.034s] [ext: isaacsim.core.version-2.0.6] startup +[6.035s] [ext: omni.physics.tensors-107.3.26] startup +[6.039s] [ext: omni.warp.core-1.8.2] startup +[6.232s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[6.234s] [ext: isaacsim.storage.native-1.5.1] startup +[6.236s] [ext: omni.physx.tensors-107.3.26] startup +[6.434s] [ext: isaacsim.core.utils-3.5.1] startup +[6.437s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[7.815s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[7.815s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[7.817s] [ext: omni.kit.window.stage-2.6.1] startup +[7.821s] [ext: omni.kit.menu.create-2.0.1] startup +[7.823s] [ext: omni.kit.window.extensions-1.4.27] startup +[7.828s] [ext: omni.kit.scripting-107.3.2] startup +[7.832s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[7.836s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[7.836s] [ext: omni.graph.tools-1.79.2] startup +[7.858s] [ext: omni.ui_query-1.1.8] startup +[7.858s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[7.859s] [ext: omni.graph-1.141.2] startup +[7.901s] [ext: omni.graph.action_core-1.1.7] startup +[7.903s] [ext: omni.kit.ui_test-1.3.7] startup +[7.905s] [ext: omni.kit.browser.core-2.3.13] startup +[7.910s] [ext: omni.kit.usd.collect-2.4.5] startup +[7.913s] [ext: omni.graph.action_nodes-1.50.4] startup +[7.919s] [ext: omni.kit.menu.stage-1.2.7] startup +[7.921s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[7.934s] [ext: omni.kit.usdz_export-1.0.9] startup +[7.937s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[7.949s] [ext: omni.graph.action-1.130.0] startup +[7.954s] [ext: omni.kit.tool.collect-2.2.18] startup +[7.960s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[7.972s] [ext: isaacsim.gui.components-1.2.1] startup +[7.982s] [ext: isaacsim.examples.browser-0.2.1] startup +[7.992s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[8.094s] [ext: isaacsim.core.cloner-1.4.10] startup +[8.102s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[8.109s] [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( +[8.209s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T13:01:16Z [8,187ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[8.214s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[8.217s] [ext: omni.kit.window.status_bar-0.1.9] startup +[8.221s] [ext: omni.kit.widget.graph-2.0.0] startup +[8.230s] [ext: omni.kit.stage_templates-2.0.0] startup +[8.232s] [ext: omni.graph.image.core-0.6.1] startup +[8.234s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[8.235s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[8.238s] [ext: omni.graph.image.nodes-1.3.1] startup +[8.242s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[8.245s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[8.247s] [ext: omni.graph.nodes-1.170.10] startup +[8.258s] [ext: omni.graph.ui_nodes-1.50.5] startup +[8.264s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[8.270s] [ext: omni.syntheticdata-0.6.13] startup +[8.310s] [ext: omni.videoencoding-0.1.2] startup +[8.314s] [ext: omni.warp-1.8.2] startup +[8.325s] [ext: omni.kit.window.material_graph-1.9.1] startup +[8.356s] [ext: omni.graph.scriptnode-1.50.0] startup +[8.360s] [ext: isaacsim.core.prims-0.6.1] startup +[8.409s] [ext: isaacsim.test.docstring-1.1.0] startup +[8.415s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T13:01:16Z [8,570ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T13:01:16Z [8,570ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T13:01:16Z [8,577ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[8.609s] [ext: isaacsim.core.api-4.8.0] startup +[8.645s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[8.697s] [ext: isaacsim.core.nodes-3.4.3] startup +[8.708s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[8.716s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[8.726s] [ext: omni.sensors.nv.common-3.0.0] startup +[8.740s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[8.746s] [ext: isaacsim.sensors.physx-2.3.2] startup +[8.757s] [ext: omni.sensors.nv.materials-2.0.0] startup +[8.765s] [ext: omni.sensors.net-1.0.0] startup +[8.776s] [ext: isaacsim.app.about-2.0.11] startup +[8.779s] [ext: isaacsim.simulation_app-2.12.2] startup +[8.781s] [ext: omni.sensors.nv.ids-2.0.0] startup +[8.790s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[8.862s] [ext: omni.kit.property.audio-1.0.16] startup +[8.868s] [ext: omni.kit.property.camera-1.0.10] startup +[8.880s] [ext: omni.kit.property.geometry-2.0.4] startup +[8.894s] [ext: omni.hydra.scene_api-0.1.2] startup +[8.902s] [ext: omni.kit.property.light-1.0.12] startup +[8.930s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.932s] [ext: omni.kit.selection-0.1.6] startup +[8.936s] [ext: omni.kit.property.material-1.11.9] startup +[9.003s] [ext: omni.kit.property.transform-1.5.13] startup +[9.029s] [ext: omni.kit.property.render-1.2.1] startup +[9.039s] [ext: omni.sensors.nv.radar-3.0.0] startup +[9.056s] [ext: isaacsim.gui.menu-2.4.4] startup +[9.140s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[9.177s] [ext: isaacsim.gui.property-1.1.3] startup +[9.216s] [ext: omni.kit.property.bundle-1.4.1] startup +[9.267s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[9.338s] [ext: isaacsim.sensors.physics-0.4.3] startup +[9.496s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[9.750s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[9.838s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[9.950s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[9.964s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[9.971s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.993s] [ext: omni.kit.window.console-1.1.4] startup +[10.015s] [ext: omni.rtx.window.settings-0.6.19] startup +[10.037s] [ext: omni.ocio-0.1.1] startup +[10.042s] [ext: omni.physx.demos-107.3.26] startup +[10.110s] [ext: omni.kit.property.physx-107.3.26] startup +[10.154s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[10.179s] [ext: omni.asset_validator.core-1.1.6] startup +[10.255s] [ext: omni.rtx.settings.core-0.6.5] startup +[10.260s] [ext: omni.physx.vehicle-107.3.26] startup +[10.279s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[10.293s] [ext: omni.kit.window.script_editor-2.0.1] startup +[10.300s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[10.306s] [ext: omni.physx.asset_validator-107.3.26] startup +[10.319s] [ext: omni.kit.window.toolbar-2.0.0] startup +[10.326s] [ext: omni.physx.camera-107.3.26] startup +[10.344s] [ext: omni.anim.curve.core-1.3.1] startup +[10.361s] [ext: omni.physx.cct-107.3.26] startup +[10.377s] [ext: omni.physx.graph-107.3.26] startup +[10.397s] [ext: omni.physx.supportui-107.3.26] startup +[10.439s] [ext: omni.physx.telemetry-107.3.26] startup +[10.442s] [ext: isaaclab-0.54.3] startup +[10.752s] [ext: isaaclab_contrib-0.0.2] startup +[10.754s] [ext: isaacsim.core.throttling-2.2.2] startup +[10.757s] [ext: omni.kit.ui.actions-1.0.5] startup +[10.763s] [ext: semantics.schema.property-2.0.1] startup +[10.766s] [ext: omni.physx.bundle-107.3.26] startup +[10.768s] [ext: isaacsim.sensors.camera-1.3.6] startup +[10.773s] [ext: isaaclab_assets-0.2.4] startup +[11.081s] [ext: isaaclab_tasks-0.11.14] startup +[11.251s] [ext: omni.kit.menu.common-2.0.1] startup +[11.254s] [ext: isaaclab_rl-0.5.0] startup +[11.256s] [ext: isaaclab_mimic-1.0.16] startup +[11.257s] [ext: isaaclab.python-2.3.2] startup +[11.261s] Simulation App Starting +2026-07-23T13:01:19Z [11,327ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T13:01:19Z [11,332ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T13:01:19Z [11,332ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T13:01:19Z [11,332ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T13:01:19Z [11,363ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[11.419s] app ready +2026-07-23T13:01:20Z [12,366ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T13:01:20Z [12,367ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T13:01:20Z [12,367ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T13:01:20Z [12,367ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[16.198s] 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=0 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=0 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-23_21-01-40.log +====================================================================================== + +21:01:40 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 0 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T13:01:40Z [32,754ms] [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 +2026-07-23T13:01:40Z [32,858ms] [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. +2026-07-23T13:01:40Z [32,874ms] [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. +2026-07-23T13:01:41Z [32,886ms] [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 : 0.464915 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T13:01:41Z [32,901ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +2026-07-23T13:01:41Z [32,907ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +2026-07-23T13:01:41Z [33,349ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +2026-07-23T13:01:41Z [33,350ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +2026-07-23T13:01:41Z [33,352ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +2026-07-23T13:01:41Z [33,353ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +2026-07-23T13:01:41Z [33,353ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +2026-07-23T13:01:41Z [33,353ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5578ad4fa110:World0.usd@ <0x5578ad4fb110>) + +[INFO]: Time taken for simulation start : 0.687839 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T13:01:54Z [45,916ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T13:01:54Z [46,316ms] [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 +2026-07-23T13:01:54Z [46,316ms] [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 +2026-07-23T13:01:54Z [46,316ms] [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 +2026-07-23T13:01:54Z [46,316ms] [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 +2026-07-23T13:02:05Z [57,486ms] [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=0 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07595700025558472, -0.1765740066766739, 0.7724999785423279], 'quat': [-0.023629000410437584, -0.0, -9.999999974752427e-07, 0.9997209906578064]}, 't1': {'center': [0.08198100328445435, -0.19491399824619293, 0.7724999785423279], 'quat': [0.9058499932289124, -9.999999974752427e-07, 9.999999974752427e-07, -0.4235979914665222]}} +[collect][auto_swap_T] left=t0:[-0.08389999717473984, -0.1770000010728836, 0.7764999866485596]->[0.06809999793767929, -0.2071000039577484, 0.7764999866485596] yaw=-177.3deg right=t1:[0.08709999918937683, -0.20110000669956207, 0.784500002861023]->[-0.07190000265836716, -0.21199999749660492, 0.784500002861023] yaw=-50.1deg +[collect][auto_swap_T] built 389 ee waypoints +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.067336, -0.195862, 0.7725], 'quat': [0.905386, -1e-06, 1e-06, -0.424589]}, 't1': {'pos': [-0.080362, -0.182097, 0.7725], 'quat': [-0.031349, 2e-06, 4e-06, 0.999509]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_generalized10_item02_seed0.hdf5 +2026-07-23T13:03:58Z [170,532ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T13:03:58Z [170,532ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[171.099s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_hybridv16_seed2_official400.log b/yzr/swap_T/logs/swap_T_hybridv16_seed2_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..c01f0778f27f8a2922dffc1ff19d03d1b8c71d8d --- /dev/null +++ b/yzr/swap_T/logs/swap_T_hybridv16_seed2_official400.log @@ -0,0 +1,767 @@ +[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_055625.log +[0.081s] [ext: omni.kit.async_engine-0.0.3] startup +[0.226s] [ext: omni.metrics.core-0.0.3] startup +[0.226s] [ext: omni.client.lib-1.1.0] startup +[0.241s] [ext: omni.blobkey-1.1.2] startup +[0.241s] [ext: omni.stats-1.0.1] startup +[0.242s] [ext: omni.datastore-0.0.0] startup +[0.248s] [ext: omni.client-1.3.0] startup +[0.254s] [ext: omni.ujitso.default-1.0.0] startup +[0.255s] [ext: omni.hsscclient-1.1.2] startup +[0.278s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.280s] [ext: omni.assets.plugins-0.0.0] startup +[0.281s] [ext: omni.gpu_foundation-0.0.0] startup +[0.288s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T21:56:25Z [258ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:56:25Z [258ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.289s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T21:56:25Z [411ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T21:56:25Z [418ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T21:56:25Z [418ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T21:56:25Z [418ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T21:56:25Z [443ms] [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. +2026-07-23T21:56:27Z [1,959ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T21:56:27Z [1,959ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T21:56:27Z [1,959ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T21:56:27Z [1,959ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T21:56:27Z [1,961ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T21:56:27Z [1,961ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T21:56:27Z [1,961ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T21:56:27Z [1,961ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T21:56:27Z [1,961ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T21:56:27Z [1,961ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T21:56:27Z [1,961ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T21:56:27Z [1,961ms] [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: 19694 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.398s] [ext: omni.materialx.libs-1.0.7] startup +[3.407s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.408s] [ext: omni.kit.test-2.0.1] startup +[3.452s] [ext: omni.kit.pipapi-0.0.0] startup +[3.453s] [ext: omni.usd.config-1.0.6] startup +[3.456s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.457s] [ext: omni.usd.libs-1.0.1] startup +[3.566s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.567s] [ext: omni.mdl-56.0.3] startup +[3.589s] [ext: omni.iray.libs-0.0.0] startup +[3.595s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.597s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.698s] [ext: omni.kit.telemetry-0.5.2] startup +[3.752s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T21:56:29Z [3,723ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:56:29Z [3,723ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.757s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T21:56:29Z [3,743ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:56:29Z [3,743ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T21:56:29Z [3,752ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:56:29Z [3,752ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.785s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.787s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T21:56:29Z [3,760ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:56:29Z [3,760ms] [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) +2026-07-23T21:56:29Z [3,762ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:56:29Z [3,762ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T21:56:29Z [3,763ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:56:29Z [3,763ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.891s] [ext: omni.ui-2.27.1] startup +[3.901s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.902s] [ext: carb.audio-0.1.0] startup +[3.931s] [ext: omni.uiaudio-1.0.0] startup +[3.932s] [ext: omni.kit.uiapp-0.0.0] startup +[3.932s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.935s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.942s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.945s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.949s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.952s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.975s] [ext: omni.usd_resolver-1.0.0] startup +[3.980s] [ext: omni.usd.core-1.5.3] startup +[3.983s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.007s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.016s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.049s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.050s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.051s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.056s] [ext: omni.graph.exec-0.9.6] startup +[4.057s] [ext: omni.kit.actions.core-1.0.0] startup +[4.059s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.060s] [ext: omni.kit.exec.core-0.13.4] startup +[4.061s] [ext: omni.kit.commands-1.4.10] startup +[4.065s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.069s] [ext: omni.activity.core-1.0.3] startup +[4.070s] [ext: omni.resourcemonitor-107.0.1] startup +[4.072s] [ext: omni.timeline-1.0.14] startup +[4.074s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.076s] [ext: usdrt.scenegraph-7.6.1] startup +[4.116s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.118s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.126s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.133s] [ext: omni.usd-1.13.10] startup +[4.161s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.174s] [ext: omni.index.libs-380600.8087.0] startup +[4.174s] [ext: omni.volume-0.5.2] startup +[4.177s] [ext: omni.ujitso.client-0.0.0] startup +[4.177s] [ext: omni.index-1.0.1] startup +[4.178s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.179s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T21:56:29Z [4,168ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.218s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.220s] [ext: omni.kit.clipboard-1.0.5] startup +[4.220s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.224s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.230s] [ext: omni.kit.menu.core-1.1.2] startup +[4.231s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.234s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.235s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.236s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.237s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.238s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.243s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.244s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.255s] [ext: omni.ui.scene-1.11.5] startup +[4.260s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.260s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.275s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.282s] [ext: omni.kit.context_menu-1.8.6] startup +[4.284s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.292s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.296s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.298s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.299s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.300s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.304s] [ext: omni.kit.material.library-2.0.7] startup +[4.309s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.312s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.314s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.329s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.335s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.340s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.341s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.345s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.349s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.350s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.352s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.353s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.354s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.355s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.361s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.364s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.365s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.367s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.368s] [ext: omni.fabric.commands-1.1.6] startup +[4.370s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.372s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.373s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.374s] [ext: omni.debugdraw-0.1.4] startup +[4.378s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.389s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.390s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.390s] [ext: omni.kvdb-107.3.26] startup +[4.391s] [ext: omni.convexdecomposition-107.3.26] startup +[4.395s] [ext: omni.physx.foundation-107.3.26] startup +[4.396s] [ext: omni.localcache-107.3.26] startup +[4.398s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.398s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.399s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.399s] [ext: omni.usdphysics-107.3.26] startup +[4.402s] [ext: omni.kit.window.file-2.0.5] startup +[4.410s] [ext: omni.physx.cooking-107.3.26] startup +[4.418s] [ext: omni.physics-107.3.26] startup +[4.423s] [ext: omni.kit.window.property-1.12.1] startup +[4.427s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.441s] [ext: omni.physx-107.3.26] startup +[4.456s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.458s] [ext: omni.kit.property.usd-4.5.12] startup +[4.470s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.471s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T21:56:29Z [4,442ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[4.473s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.474s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.488s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.493s] [ext: omni.inspect-1.0.2] startup +[4.494s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.506s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.507s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.517s] [ext: omni.graph.core-2.184.5] startup +[4.521s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.522s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.550s] [ext: omni.physx.commands-107.3.26] startup +[4.554s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.555s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T21:56:29Z [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. +[4.565s] [ext: omni.physx.ui-107.3.26] startup +[4.602s] [ext: isaacsim.core.version-2.0.6] startup +[4.603s] [ext: omni.physics.tensors-107.3.26] startup +[4.608s] [ext: omni.warp.core-1.8.2] startup +[4.807s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.810s] [ext: isaacsim.storage.native-1.5.1] startup +[4.811s] [ext: omni.physx.tensors-107.3.26] startup +[4.818s] [ext: isaacsim.core.utils-3.5.1] startup +[4.821s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.182s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.186s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.188s] [ext: omni.kit.window.stage-2.6.1] startup +[6.193s] [ext: omni.kit.menu.create-2.0.1] startup +[6.194s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.201s] [ext: omni.kit.scripting-107.3.2] startup +[6.205s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.209s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.209s] [ext: omni.graph.tools-1.79.2] startup +[6.231s] [ext: omni.ui_query-1.1.8] startup +[6.232s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.233s] [ext: omni.graph-1.141.2] startup +[6.276s] [ext: omni.graph.action_core-1.1.7] startup +[6.278s] [ext: omni.kit.ui_test-1.3.7] startup +[6.283s] [ext: omni.kit.browser.core-2.3.13] startup +[6.287s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.292s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.299s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.305s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.317s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.322s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.337s] [ext: omni.graph.action-1.130.0] startup +[6.342s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.347s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.361s] [ext: isaacsim.gui.components-1.2.1] startup +[6.375s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.395s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.563s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.570s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.576s] [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( +[6.653s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T21:56:32Z [6,626ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.659s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.660s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.665s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.671s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.675s] [ext: omni.graph.image.core-0.6.1] startup +[6.676s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.677s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.679s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.680s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.683s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.684s] [ext: omni.graph.nodes-1.170.10] startup +[6.696s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.700s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.706s] [ext: omni.syntheticdata-0.6.13] startup +[6.739s] [ext: omni.videoencoding-0.1.2] startup +[6.745s] [ext: omni.warp-1.8.2] startup +[6.752s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.768s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.773s] [ext: isaacsim.core.prims-0.6.1] startup +[6.824s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.834s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T21:56:32Z [7,037ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T21:56:32Z [7,037ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T21:56:32Z [7,039ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.080s] [ext: isaacsim.core.api-4.8.0] startup +[7.137s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.198s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.218s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.228s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.238s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.262s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.273s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.290s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.300s] [ext: omni.sensors.net-1.0.0] startup +[7.314s] [ext: isaacsim.app.about-2.0.11] startup +[7.332s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.334s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.407s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.422s] [ext: omni.kit.property.audio-1.0.16] startup +[7.440s] [ext: omni.kit.property.camera-1.0.10] startup +[7.445s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.454s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.471s] [ext: omni.kit.property.light-1.0.12] startup +[7.524s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.534s] [ext: omni.kit.selection-0.1.6] startup +[7.545s] [ext: omni.kit.property.material-1.11.9] startup +[7.704s] [ext: omni.kit.property.transform-1.5.13] startup +[7.812s] [ext: omni.kit.property.render-1.2.1] startup +[7.871s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.906s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.137s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.178s] [ext: isaacsim.gui.property-1.1.3] startup +[8.196s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.209s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.244s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.292s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.328s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.356s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.371s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.381s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.386s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.414s] [ext: omni.kit.window.console-1.1.4] startup +[8.430s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.446s] [ext: omni.ocio-0.1.1] startup +[8.454s] [ext: omni.physx.demos-107.3.26] startup +[8.506s] [ext: omni.kit.property.physx-107.3.26] startup +[8.556s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.588s] [ext: omni.asset_validator.core-1.1.6] startup +[8.693s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.702s] [ext: omni.physx.vehicle-107.3.26] startup +[8.731s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.749s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.756s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.766s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.781s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.789s] [ext: omni.physx.camera-107.3.26] startup +[8.807s] [ext: omni.anim.curve.core-1.3.1] startup +[8.831s] [ext: omni.physx.cct-107.3.26] startup +[8.858s] [ext: omni.physx.graph-107.3.26] startup +[8.876s] [ext: omni.physx.supportui-107.3.26] startup +[8.920s] [ext: omni.physx.telemetry-107.3.26] startup +[8.924s] [ext: isaaclab-0.54.3] startup +[9.219s] [ext: isaaclab_contrib-0.0.2] startup +[9.220s] [ext: isaacsim.core.throttling-2.2.2] startup +[9.223s] [ext: omni.kit.ui.actions-1.0.5] startup +[9.228s] [ext: semantics.schema.property-2.0.1] startup +[9.232s] [ext: omni.physx.bundle-107.3.26] startup +[9.235s] [ext: isaacsim.sensors.camera-1.3.6] startup +[9.241s] [ext: isaaclab_assets-0.2.4] startup +[9.544s] [ext: isaaclab_tasks-0.11.14] startup +[9.717s] [ext: omni.kit.menu.common-2.0.1] startup +[9.719s] [ext: isaaclab_rl-0.5.0] startup +[9.721s] [ext: isaaclab_mimic-1.0.16] startup +[9.722s] [ext: isaaclab.python-2.3.2] startup +[9.727s] Simulation App Starting +2026-07-23T21:56:35Z [9,783ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T21:56:35Z [9,787ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T21:56:35Z [9,787ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T21:56:35Z [9,787ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T21:56:35Z [9,817ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.967s] app ready +2026-07-23T21:56:35Z [10,507ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T21:56:35Z [10,507ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T21:56:35Z [10,507ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T21:56:35Z [10,508ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.854s] 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=2 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=2 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_05-56-58.log +====================================================================================== + +05:56:58 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 2 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T21:56:59Z [33,880ms] [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 +2026-07-23T21:56:59Z [33,982ms] [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. +2026-07-23T21:56:59Z [33,999ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-23T21:56:59Z [34,010ms] [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 : 0.456231 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T21:56:59Z [34,025ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +2026-07-23T21:56:59Z [34,032ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +2026-07-23T21:56:59Z [34,494ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +2026-07-23T21:56:59Z [34,494ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +2026-07-23T21:56:59Z [34,497ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +2026-07-23T21:56:59Z [34,498ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +2026-07-23T21:56:59Z [34,498ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +2026-07-23T21:56:59Z [34,499ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x556eb51488c0:World0.usd@ <0x556eb51498c0>) + +[INFO]: Time taken for simulation start : 0.709118 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T21:57:08Z [42,647ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T21:57:08Z [42,918ms] [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 +2026-07-23T21:57:08Z [42,918ms] [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 +2026-07-23T21:57:08Z [42,918ms] [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 +2026-07-23T21:57:08Z [42,919ms] [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 +2026-07-23T21:57:19Z [54,325ms] [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=2 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.04164599999785423, -0.16254299879074097, 0.7724999785423279], 'quat': [0.7873070240020752, 0.0, -0.0, 0.616562008857727]}, 't1': {'center': [0.07254300266504288, -0.1680849939584732, 0.7724999785423279], 'quat': [0.9217829704284668, -1.9999999949504854e-06, 0.0, 0.387704998254776]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.041600000113248825, -0.16249999403953552, 0.7724999785423279] pick_tcp=[-0.03920000046491623, -0.15279999375343323, 0.7724999785423279] waypoints=41 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0231 tracking_error=0.0068 gripper_position=0.3592 secured=True +[collect][auto_swap_T] left_stage observed=[-0.06360000371932983, -0.15520000457763672, 0.7724999785423279] target=[-0.1615000069141388, -0.156700000166893, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=left_stage waypoints=12 +[collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.0989 tracking_error=0.0036 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.16249999403953552, -0.15330000221729279, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.149399995803833, -0.00019999999494757503, -0.014800000004470348] +[collect][auto_swap_T] right_pick label=t1 center=[0.07249999791383743, -0.1680999994277954, 0.7724999785423279] pick_tcp=[0.0794999971985817, -0.16089999675750732, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0149 tracking_error=0.0127 gripper_position=0.0806 secured=True +[collect][auto_swap_T] right_stage observed=[0.08649999648332596, -0.16290000081062317, 0.7738999724388123] target=[0.1923999935388565, -0.17389999330043793, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1048 tracking_error=0.0039 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.19099999964237213, -0.17020000517368317, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.14990000426769257, -0.00019999999494757503, -0.007499999832361937] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=12.88 +[collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect][auto_swap_T] left_rotate step=9 xy=0.0002 z=0.0000 yaw_deg=-0.13 +[collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect][auto_swap_T] left_align step=20 xy=0.2093 z=0.0003 yaw_deg=0.08 +[collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect][auto_swap_T] left_align step=40 xy=0.1236 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect][auto_swap_T] left_align step=60 xy=0.0386 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect][auto_swap_T] left_align step=69 xy=0.0032 z=0.0001 yaw_deg=-0.26 +[collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect][auto_swap_T] left_release step=74 xy=0.0008 z=0.0002 yaw_deg=-0.10 +[collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect][auto_swap_T] left_release step=80 xy=0.0008 z=0.0040 yaw_deg=-0.71 +[collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect][auto_swap_T] left_feedback released center=[0.0723000019788742, -0.16740000247955322, 0.7724999785423279] quat=[0.9193999767303467, -0.0, -0.0, 0.39340001344680786] +[collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.19449999928474426, -0.16990000009536743, 0.7738999724388123] lifted=0.0014 ee_to_object_pos=[0.14990000426769257, -0.0, -0.007499999832361937] +[collect][auto_swap_T] right_detour obstacle=[0.07249999791383743, -0.1680999994277954, 0.7724999785423279] waypoint=[0.08079999685287476, 0.0012000000569969416, 0.7738999724388123] clearance=0.1695 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.041600000113248825, -0.16249999403953552, 0.7724999785423279] waypoints=48 +[collect][auto_swap_T] phase=right_place waypoints=48 +[collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.15 +[collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect][auto_swap_T] right_align step=6 xy=0.0007 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.01 +[collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect][auto_swap_T] right_release step=20 xy=0.0003 z=0.0040 yaw_deg=-0.13 +[collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect][auto_swap_T] right_feedback released center=[-0.04170000180602074, -0.1623000055551529, 0.7724999785423279] quat=[0.7865999937057495, -0.0, -0.0, 0.6175000071525574] +[collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.072315, -0.167357, 0.7725], 'quat': [0.919373, 0.0, -0.0, 0.393386]}, 't1': {'pos': [-0.041669, -0.162293, 0.7725], 'quat': [0.786586, -1e-06, -1e-06, 0.617481]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_hybridv16_seed2_official400.hdf5 +2026-07-23T21:58:44Z [139,235ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T21:58:44Z [139,235ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[139.646s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv25_seed11_official400.log b/yzr/swap_T/logs/swap_T_officialv25_seed11_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..43d016f86df4cd8334b0e8cd1614ae4333db134d --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv25_seed11_official400.log @@ -0,0 +1,873 @@ +[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_110927.log +[0.057s] [ext: omni.kit.async_engine-0.0.3] startup +[0.207s] [ext: omni.metrics.core-0.0.3] startup +[0.207s] [ext: omni.client.lib-1.1.0] startup +[0.222s] [ext: omni.blobkey-1.1.2] startup +[0.222s] [ext: omni.stats-1.0.1] startup +[0.223s] [ext: omni.datastore-0.0.0] startup +[0.230s] [ext: omni.client-1.3.0] startup +[0.235s] [ext: omni.ujitso.default-1.0.0] startup +[0.237s] [ext: omni.hsscclient-1.1.2] startup +[0.259s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.261s] [ext: omni.assets.plugins-0.0.0] startup +[0.262s] [ext: omni.gpu_foundation-0.0.0] startup +[0.269s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T03:09:27Z [246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:09:27Z [246ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.271s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T03:09:27Z [388ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T03:09:27Z [389ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T03:09:27Z [389ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T03:09:27Z [389ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T03:09:27Z [430ms] [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. +2026-07-24T03:09:30Z [3,262ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:09:30Z [3,262ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:09:30Z [3,263ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:09:30Z [3,263ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:09:30Z [3,264ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:09:30Z [3,264ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:09:30Z [3,265ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:09:30Z [3,265ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:09:30Z [3,265ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:09:30Z [3,265ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:09:30Z [3,265ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:09:30Z [3,265ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 352437 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[4.322s] [ext: omni.materialx.libs-1.0.7] startup +[4.331s] [ext: omni.kit.loop-isaac-1.3.7] startup +[4.332s] [ext: omni.kit.test-2.0.1] startup +[4.378s] [ext: omni.kit.pipapi-0.0.0] startup +[4.378s] [ext: omni.usd.config-1.0.6] startup +[4.382s] [ext: omni.gpucompute.plugins-0.0.0] startup +[4.382s] [ext: omni.usd.libs-1.0.1] startup +[4.489s] [ext: omni.kit.pip_archive-0.0.0] startup +[4.489s] [ext: omni.mdl-56.0.3] startup +[4.511s] [ext: omni.iray.libs-0.0.0] startup +[4.517s] [ext: omni.mdl.neuraylib-0.2.12] startup +[4.519s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.619s] [ext: omni.kit.telemetry-0.5.2] startup +[4.655s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T03:09:31Z [4,632ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:09:31Z [4,632ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.659s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T03:09:31Z [4,651ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:09:31Z [4,651ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T03:09:31Z [4,660ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:09:31Z [4,660ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.686s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.689s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T03:09:31Z [4,667ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:09:31Z [4,667ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T03:09:31Z [4,669ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:09:31Z [4,669ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T03:09:31Z [4,670ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:09:31Z [4,670ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.789s] [ext: omni.ui-2.27.1] startup +[4.800s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.801s] [ext: carb.audio-0.1.0] startup +[4.827s] [ext: omni.uiaudio-1.0.0] startup +[4.828s] [ext: omni.kit.uiapp-0.0.0] startup +[4.828s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.830s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.837s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.840s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.844s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.847s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.870s] [ext: omni.usd_resolver-1.0.0] startup +[4.874s] [ext: omni.usd.core-1.5.3] startup +[4.878s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.901s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.910s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.943s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.944s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.945s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.950s] [ext: omni.graph.exec-0.9.6] startup +[4.950s] [ext: omni.kit.actions.core-1.0.0] startup +[4.953s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.953s] [ext: omni.kit.exec.core-0.13.4] startup +[4.955s] [ext: omni.kit.commands-1.4.10] startup +[4.958s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.962s] [ext: omni.activity.core-1.0.3] startup +[4.963s] [ext: omni.resourcemonitor-107.0.1] startup +[4.965s] [ext: omni.timeline-1.0.14] startup +[4.967s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.969s] [ext: usdrt.scenegraph-7.6.1] startup +[5.009s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[5.010s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[5.019s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[5.024s] [ext: omni.usd-1.13.10] startup +[5.051s] [ext: omni.kit.asset_converter-5.0.17] startup +[5.065s] [ext: omni.index.libs-380600.8087.0] startup +[5.065s] [ext: omni.volume-0.5.2] startup +[5.068s] [ext: omni.ujitso.client-0.0.0] startup +[5.068s] [ext: omni.index-1.0.1] startup +[5.069s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[5.070s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T03:09:32Z [5,066ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[5.109s] [ext: omni.kit.notification_manager-1.0.10] startup +[5.110s] [ext: omni.kit.clipboard-1.0.5] startup +[5.111s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[5.114s] [ext: omni.kit.raycast.query-1.1.0] startup +[5.120s] [ext: omni.kit.menu.core-1.1.2] startup +[5.121s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[5.124s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[5.125s] [ext: omni.kit.widget.path_field-2.0.11] startup +[5.126s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[5.127s] [ext: omni.kit.widget.options_button-1.0.3] startup +[5.127s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[5.131s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[5.133s] [ext: omni.kit.usd.layers-2.2.11] startup +[5.141s] [ext: omni.ui.scene-1.11.5] startup +[5.145s] [ext: omni.kit.viewport.registry-104.0.6] startup +[5.146s] [ext: omni.kit.window.filepicker-2.13.4] startup +[5.160s] [ext: omni.kit.menu.utils-2.0.5] startup +[5.167s] [ext: omni.kit.context_menu-1.8.6] startup +[5.169s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[5.174s] [ext: omni.kit.hydra_texture-1.4.6] startup +[5.178s] [ext: omni.kit.window.file_importer-1.1.18] startup +[5.181s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[5.181s] [ext: omni.kit.window.drop_support-1.0.5] startup +[5.182s] [ext: omni.kit.widget.viewport-107.1.3] startup +[5.185s] [ext: omni.kit.material.library-2.0.7] startup +[5.190s] [ext: omni.hydra.engine.stats-1.0.3] startup +[5.193s] [ext: omni.kit.widget.settings-1.2.6] startup +[5.195s] [ext: omni.kit.viewport.window-107.2.0] startup +[5.210s] [ext: omni.kit.window.preferences-1.8.0] startup +[5.214s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[5.219s] [ext: omni.kit.viewport.utility-1.1.2] startup +[5.220s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[5.224s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[5.228s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[5.229s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[5.231s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[5.232s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[5.233s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[5.234s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[5.240s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[5.243s] [ext: omni.kit.widget.filter-1.1.4] startup +[5.244s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[5.246s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[5.247s] [ext: omni.fabric.commands-1.1.6] startup +[5.249s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[5.250s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[5.252s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[5.253s] [ext: omni.debugdraw-0.1.4] startup +[5.257s] [ext: omni.kit.widget.stage-3.1.4] startup +[5.267s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[5.268s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[5.268s] [ext: omni.kvdb-107.3.26] startup +[5.270s] [ext: omni.convexdecomposition-107.3.26] startup +[5.273s] [ext: omni.physx.foundation-107.3.26] startup +[5.275s] [ext: omni.localcache-107.3.26] startup +[5.276s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[5.277s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[5.277s] [ext: omni.kit.stage_template.core-1.1.22] startup +[5.278s] [ext: omni.usdphysics-107.3.26] startup +[5.280s] [ext: omni.kit.window.file-2.0.5] startup +[5.283s] [ext: omni.physx.cooking-107.3.26] startup +[5.286s] [ext: omni.physics-107.3.26] startup +[5.290s] [ext: omni.kit.window.property-1.12.1] startup +[5.292s] [ext: omni.kit.window.content_browser-3.1.3] startup +[5.303s] [ext: omni.physx-107.3.26] startup +[5.314s] [ext: omni.physics.stageupdate-107.3.26] startup +[5.316s] [ext: omni.kit.property.usd-4.5.12] startup +[5.326s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[5.327s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T03:09:32Z [5,304ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[5.329s] [ext: omni.kit.widget.prompt-1.0.7] startup +[5.330s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[5.343s] [ext: omni.kit.viewport.actions-107.0.2] startup +[5.347s] [ext: omni.inspect-1.0.2] startup +[5.349s] [ext: omni.kit.widget.layers-1.8.6] startup +[5.360s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[5.361s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[5.368s] [ext: omni.graph.core-2.184.5] startup +[5.371s] [ext: omni.kit.numpy.common-0.1.3] startup +[5.373s] [ext: omni.usdphysics.ui-107.3.26] startup +[5.400s] [ext: omni.physx.commands-107.3.26] startup +[5.404s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[5.404s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T03:09:32Z [5,386ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[5.411s] [ext: omni.physx.ui-107.3.26] startup +[5.442s] [ext: isaacsim.core.version-2.0.6] startup +[5.443s] [ext: omni.physics.tensors-107.3.26] startup +[5.448s] [ext: omni.warp.core-1.8.2] startup +[5.639s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.641s] [ext: isaacsim.storage.native-1.5.1] startup +[5.642s] [ext: omni.physx.tensors-107.3.26] startup +[5.648s] [ext: isaacsim.core.utils-3.5.1] startup +[5.651s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[7.118s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[7.119s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[7.121s] [ext: omni.kit.window.stage-2.6.1] startup +[7.126s] [ext: omni.kit.menu.create-2.0.1] startup +[7.127s] [ext: omni.kit.window.extensions-1.4.27] startup +[7.133s] [ext: omni.kit.scripting-107.3.2] startup +[7.138s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[7.142s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[7.142s] [ext: omni.graph.tools-1.79.2] startup +[7.164s] [ext: omni.ui_query-1.1.8] startup +[7.164s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[7.165s] [ext: omni.graph-1.141.2] startup +[7.210s] [ext: omni.graph.action_core-1.1.7] startup +[7.211s] [ext: omni.kit.ui_test-1.3.7] startup +[7.216s] [ext: omni.kit.browser.core-2.3.13] startup +[7.220s] [ext: omni.kit.usd.collect-2.4.5] startup +[7.225s] [ext: omni.graph.action_nodes-1.50.4] startup +[7.230s] [ext: omni.kit.menu.stage-1.2.7] startup +[7.235s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[7.245s] [ext: omni.kit.usdz_export-1.0.9] startup +[7.250s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[7.269s] [ext: omni.graph.action-1.130.0] startup +[7.272s] [ext: omni.kit.tool.collect-2.2.18] startup +[7.279s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[7.288s] [ext: isaacsim.gui.components-1.2.1] startup +[7.294s] [ext: isaacsim.examples.browser-0.2.1] startup +[7.301s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[7.442s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.450s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.460s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.572s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T03:09:34Z [7,555ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.582s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.583s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.591s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.598s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.601s] [ext: omni.graph.image.core-0.6.1] startup +[7.603s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.604s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.605s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.610s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.612s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.614s] [ext: omni.graph.nodes-1.170.10] startup +[7.626s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.631s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.637s] [ext: omni.syntheticdata-0.6.13] startup +[7.670s] [ext: omni.videoencoding-0.1.2] startup +[7.675s] [ext: omni.warp-1.8.2] startup +[7.685s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.701s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.706s] [ext: isaacsim.core.prims-0.6.1] startup +[7.759s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.766s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T03:09:34Z [7,946ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T03:09:34Z [7,946ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T03:09:34Z [7,948ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.977s] [ext: isaacsim.core.api-4.8.0] startup +[8.036s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[8.105s] [ext: isaacsim.core.nodes-3.4.3] startup +[8.135s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[8.147s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[8.159s] [ext: omni.sensors.nv.common-3.0.0] startup +[8.190s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[8.199s] [ext: isaacsim.sensors.physx-2.3.2] startup +[8.217s] [ext: omni.sensors.nv.materials-2.0.0] startup +[8.230s] [ext: omni.sensors.net-1.0.0] startup +[8.242s] [ext: isaacsim.app.about-2.0.11] startup +[8.250s] [ext: isaacsim.simulation_app-2.12.2] startup +[8.260s] [ext: omni.sensors.nv.ids-2.0.0] startup +[8.291s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[8.302s] [ext: omni.kit.property.audio-1.0.16] startup +[8.315s] [ext: omni.kit.property.camera-1.0.10] startup +[8.331s] [ext: omni.kit.property.geometry-2.0.4] startup +[8.357s] [ext: omni.hydra.scene_api-0.1.2] startup +[8.381s] [ext: omni.kit.property.light-1.0.12] startup +[8.416s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.421s] [ext: omni.kit.selection-0.1.6] startup +[8.430s] [ext: omni.kit.property.material-1.11.9] startup +[8.464s] [ext: omni.kit.property.transform-1.5.13] startup +[8.485s] [ext: omni.kit.property.render-1.2.1] startup +[8.489s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.494s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.511s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.523s] [ext: isaacsim.gui.property-1.1.3] startup +[8.528s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.535s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.559s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.576s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.609s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.646s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.660s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.701s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.710s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.731s] [ext: omni.kit.window.console-1.1.4] startup +[8.750s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.785s] [ext: omni.ocio-0.1.1] startup +[8.792s] [ext: omni.physx.demos-107.3.26] startup +[8.880s] [ext: omni.kit.property.physx-107.3.26] startup +[8.917s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.965s] [ext: omni.asset_validator.core-1.1.6] startup +[9.064s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.096s] [ext: omni.physx.vehicle-107.3.26] startup +[9.227s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.303s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.320s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.367s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.471s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.497s] [ext: omni.physx.camera-107.3.26] startup +[9.528s] [ext: omni.anim.curve.core-1.3.1] startup +[9.597s] [ext: omni.physx.cct-107.3.26] startup +[9.708s] [ext: omni.physx.graph-107.3.26] startup +[10.059s] [ext: omni.physx.supportui-107.3.26] startup +[10.185s] [ext: omni.physx.telemetry-107.3.26] startup +[10.210s] [ext: isaaclab-0.54.3] startup +[10.599s] [ext: isaaclab_contrib-0.0.2] startup +[10.601s] [ext: isaacsim.core.throttling-2.2.2] startup +[10.604s] [ext: omni.kit.ui.actions-1.0.5] startup +[10.609s] [ext: semantics.schema.property-2.0.1] startup +[10.613s] [ext: omni.physx.bundle-107.3.26] startup +[10.616s] [ext: isaacsim.sensors.camera-1.3.6] startup +[10.622s] [ext: isaaclab_assets-0.2.4] startup +[10.917s] [ext: isaaclab_tasks-0.11.14] startup +[11.080s] [ext: omni.kit.menu.common-2.0.1] startup +[11.083s] [ext: isaaclab_rl-0.5.0] startup +[11.084s] [ext: isaaclab_mimic-1.0.16] startup +[11.086s] [ext: isaaclab.python-2.3.2] startup +[11.091s] Simulation App Starting +2026-07-24T03:09:38Z [11,143ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T03:09:38Z [11,147ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T03:09:38Z [11,147ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T03:09:38Z [11,147ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T03:09:38Z [11,175ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[11.228s] app ready +2026-07-24T03:09:39Z [12,084ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T03:09:39Z [12,084ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T03:09:39Z [12,084ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T03:09:39Z [12,084ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[15.452s] 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=11 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=11 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_11-09-59.log +====================================================================================== + +11:09:59 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 11 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T03:09:59Z [32,440ms] [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 +2026-07-24T03:09:59Z [32,541ms] [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. +2026-07-24T03:09:59Z [32,557ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T03:09:59Z [32,571ms] [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 : 0.453767 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T03:09:59Z [32,586ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +2026-07-24T03:09:59Z [32,593ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +2026-07-24T03:10:00Z [33,058ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +2026-07-24T03:10:00Z [33,058ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +2026-07-24T03:10:00Z [33,061ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +2026-07-24T03:10:00Z [33,061ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +2026-07-24T03:10:00Z [33,062ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +2026-07-24T03:10:00Z [33,062ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x563634ac7c30:World0.usd@ <0x563634ac8c30>) + +[INFO]: Time taken for simulation start : 0.712809 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T03:10:07Z [40,559ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T03:10:08Z [41,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T03:10:08Z [41,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T03:10:08Z [41,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T03:10:08Z [41,021ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T03:10:19Z [52,075ms] [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=11 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07880499958992004, -0.1909410059452057, 0.7724999785423279], 'quat': [0.6747310161590576, -9.999999974752427e-07, -0.0, 0.7380639910697937]}, 't1': {'center': [0.038217999041080475, -0.1939450055360794, 0.7724999785423279], 'quat': [0.09222900122404099, 0.0, -1.9999999949504854e-06, 0.9957380294799805]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07880000025033951, -0.19089999794960022, 0.7724999785423279] pick_tcp=[-0.07970000058412552, -0.1809999942779541, 0.7724999785423279] waypoints=35 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0263 tracking_error=0.0067 gripper_position=0.3819 secured=True +[collect][auto_swap_T] left_stage observed=[-0.10409999638795853, -0.18359999358654022, 0.7724999785423279] target=[-0.1987999975681305, -0.18790000677108765, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=left_stage waypoints=12 +[collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.0933 tracking_error=0.0051 gripper_position=0.1551 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19740000367164612, -0.18299999833106995, 0.772599995136261] lifted=0.0001 ee_to_object_pos=[0.14980000257492065, -0.00039999998989515007, -0.01119999960064888] +[collect][auto_swap_T] right_pick label=t1 center=[0.03819999843835831, -0.193900004029274, 0.7724999785423279] pick_tcp=[0.0284000001847744, -0.19210000336170197, 0.7724999785423279] waypoints=36 +[collect][auto_swap_T] phase=right_pick waypoints=36 +[collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0047 tracking_error=0.0209 gripper_position=0.6049 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.042500000447034836, -0.19189999997615814, 0.7724999785423279] target=[0.1581999957561493, -0.19699999690055847, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1040 tracking_error=0.0118 gripper_position=0.1609 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.14640000462532043, -0.1965000033378601, 0.7724999785423279] lifted=-0.0000 ee_to_object_pos=[0.15299999713897705, -0.00039999998989515007, 0.009399999864399433] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=104.21 +[collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect][auto_swap_T] left_transport step=20 xy=0.1371 z=0.0002 yaw_deg=104.08 +[collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect][auto_swap_T] left_transport step=40 xy=0.0370 z=0.0004 yaw_deg=103.60 +[collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect][auto_swap_T] left_transport step=60 xy=0.0169 z=0.0002 yaw_deg=98.11 +[collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect][auto_swap_T] left_transport step=67 xy=0.0059 z=0.0011 yaw_deg=95.72 +[collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect][auto_swap_T] left_rotate step=80 xy=0.0009 z=0.0000 yaw_deg=79.75 +[collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect][auto_swap_T] left_rotate step=100 xy=0.0062 z=0.0001 yaw_deg=52.94 +[collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect][auto_swap_T] left_rotate step=120 xy=0.0098 z=0.0001 yaw_deg=26.64 +[collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect][auto_swap_T] left_rotate step=140 xy=0.0127 z=0.0001 yaw_deg=0.26 +[collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect][auto_swap_T] left_rotate step=149 xy=0.0044 z=0.0001 yaw_deg=-0.01 +[collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect][auto_swap_T] left_align step=152 xy=0.0024 z=0.0010 yaw_deg=-0.01 +[collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect][auto_swap_T] left_release step=155 xy=0.0003 z=0.0001 yaw_deg=-0.07 +[collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect][auto_swap_T] left_release step=160 xy=0.0007 z=0.0040 yaw_deg=0.74 +[collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect][auto_swap_T] left_feedback released center=[0.03750000149011612, -0.193900004029274, 0.7724999785423279] quat=[0.09860000014305115, 0.0, -0.0, 0.9951000213623047] +[collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.20499999821186066, -0.18359999358654022, 0.7732999920845032] lifted=0.0008 ee_to_object_pos=[0.15000000596046448, -0.0003000000142492354, 0.00930000003427267] +[collect][auto_swap_T] right_detour obstacle=[0.03819999843835831, -0.193900004029274, 0.7724999785423279] waypoint=[0.041999999433755875, -0.04529999941587448, 0.7932999730110168] clearance=0.1487 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07880000025033951, -0.19089999794960022, 0.7724999785423279] waypoints=68 +[collect][auto_swap_T] phase=right_place waypoints=68 +[collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.04 +[collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect][auto_swap_T] right_align step=4 xy=0.0003 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect][auto_swap_T] right_release step=7 xy=0.0002 z=0.0003 yaw_deg=-0.02 +[collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect][auto_swap_T] right_feedback released center=[-0.07880000025033951, -0.19110000133514404, 0.7724999785423279] quat=[0.6740999817848206, -0.0, -0.0, 0.7386000156402588] +[collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect] demo=0 step=389/400 +env0 step: 389 / 400 [collect] demo=0 step=390/400 +env0 step: 390 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.037491, -0.193917, 0.7725], 'quat': [0.098615, 0.0, -1e-06, 0.995126]}, 't1': {'pos': [-0.07879, -0.191126, 0.7725], 'quat': [0.674101, -1e-06, -0.0, 0.738639]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_officialv25_seed11_official400.hdf5 +2026-07-24T03:12:12Z [165,185ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:12:12Z [165,185ms] [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) +[165.639s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv29_seed42_official400.log b/yzr/swap_T/logs/swap_T_officialv29_seed42_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..2f4a0c02920a2f9c33c0eb19ca40de85f2a9203a --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv29_seed42_official400.log @@ -0,0 +1,812 @@ +[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_112829.log +[0.064s] [ext: omni.kit.async_engine-0.0.3] startup +[0.225s] [ext: omni.metrics.core-0.0.3] startup +[0.225s] [ext: omni.client.lib-1.1.0] startup +[0.240s] [ext: omni.blobkey-1.1.2] startup +[0.240s] [ext: omni.stats-1.0.1] startup +[0.241s] [ext: omni.datastore-0.0.0] startup +[0.248s] [ext: omni.client-1.3.0] startup +[0.253s] [ext: omni.ujitso.default-1.0.0] startup +[0.255s] [ext: omni.hsscclient-1.1.2] startup +[0.292s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.293s] [ext: omni.assets.plugins-0.0.0] startup +[0.295s] [ext: omni.gpu_foundation-0.0.0] startup +[0.302s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T03:28:29Z [278ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:28:29Z [278ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.303s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T03:28:29Z [386ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T03:28:29Z [392ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T03:28:29Z [392ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T03:28:29Z [392ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T03:28:29Z [436ms] [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. +2026-07-24T03:28:32Z [2,982ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:28:32Z [2,982ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:28:32Z [2,983ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:28:32Z [2,983ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:28:32Z [2,984ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:28:32Z [2,984ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:28:32Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:28:32Z [2,985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:28:32Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:28:32Z [2,985ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T03:28:32Z [2,985ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T03:28:32Z [2,985ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 353343 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[4.105s] [ext: omni.materialx.libs-1.0.7] startup +[4.113s] [ext: omni.kit.loop-isaac-1.3.7] startup +[4.114s] [ext: omni.kit.test-2.0.1] startup +[4.156s] [ext: omni.kit.pipapi-0.0.0] startup +[4.157s] [ext: omni.usd.config-1.0.6] startup +[4.160s] [ext: omni.gpucompute.plugins-0.0.0] startup +[4.161s] [ext: omni.usd.libs-1.0.1] startup +[4.269s] [ext: omni.kit.pip_archive-0.0.0] startup +[4.269s] [ext: omni.mdl-56.0.3] startup +[4.291s] [ext: omni.iray.libs-0.0.0] startup +[4.297s] [ext: omni.mdl.neuraylib-0.2.12] startup +[4.299s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.399s] [ext: omni.kit.telemetry-0.5.2] startup +[4.449s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T03:28:33Z [4,426ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:28:33Z [4,426ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.453s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T03:28:33Z [4,462ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:28:33Z [4,462ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T03:28:33Z [4,470ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:28:33Z [4,470ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.496s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.499s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T03:28:33Z [4,477ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:28:33Z [4,477ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T03:28:33Z [4,479ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:28:33Z [4,479ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T03:28:33Z [4,480ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:28:33Z [4,480ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.595s] [ext: omni.ui-2.27.1] startup +[4.606s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.607s] [ext: carb.audio-0.1.0] startup +[4.613s] [ext: omni.uiaudio-1.0.0] startup +[4.614s] [ext: omni.kit.uiapp-0.0.0] startup +[4.614s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.617s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.624s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.627s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.631s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.634s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.657s] [ext: omni.usd_resolver-1.0.0] startup +[4.662s] [ext: omni.usd.core-1.5.3] startup +[4.665s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.689s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.698s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.731s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.732s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.733s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.738s] [ext: omni.graph.exec-0.9.6] startup +[4.738s] [ext: omni.kit.actions.core-1.0.0] startup +[4.740s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.741s] [ext: omni.kit.exec.core-0.13.4] startup +[4.742s] [ext: omni.kit.commands-1.4.10] startup +[4.746s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.750s] [ext: omni.activity.core-1.0.3] startup +[4.751s] [ext: omni.resourcemonitor-107.0.1] startup +[4.753s] [ext: omni.timeline-1.0.14] startup +[4.755s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.757s] [ext: usdrt.scenegraph-7.6.1] startup +[4.795s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.797s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.805s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.811s] [ext: omni.usd-1.13.10] startup +[4.837s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.850s] [ext: omni.index.libs-380600.8087.0] startup +[4.850s] [ext: omni.volume-0.5.2] startup +[4.853s] [ext: omni.ujitso.client-0.0.0] startup +[4.853s] [ext: omni.index-1.0.1] startup +[4.854s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.855s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T03:28:34Z [4,851ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.894s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.896s] [ext: omni.kit.clipboard-1.0.5] startup +[4.896s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.899s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.906s] [ext: omni.kit.menu.core-1.1.2] startup +[4.907s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.910s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.911s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.912s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.913s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.913s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.917s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.918s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.927s] [ext: omni.ui.scene-1.11.5] startup +[4.931s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.931s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.945s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.953s] [ext: omni.kit.context_menu-1.8.6] startup +[4.954s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.960s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.964s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.966s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.967s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.968s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.971s] [ext: omni.kit.material.library-2.0.7] startup +[4.976s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.979s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.981s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.996s] [ext: omni.kit.window.preferences-1.8.0] startup +[5.001s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[5.005s] [ext: omni.kit.viewport.utility-1.1.2] startup +[5.006s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[5.010s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[5.014s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[5.015s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[5.017s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[5.018s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[5.019s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[5.021s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[5.027s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[5.029s] [ext: omni.kit.widget.filter-1.1.4] startup +[5.030s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[5.032s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[5.033s] [ext: omni.fabric.commands-1.1.6] startup +[5.035s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[5.036s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[5.037s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[5.039s] [ext: omni.debugdraw-0.1.4] startup +[5.043s] [ext: omni.kit.widget.stage-3.1.4] startup +[5.054s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[5.054s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[5.054s] [ext: omni.kvdb-107.3.26] startup +[5.056s] [ext: omni.convexdecomposition-107.3.26] startup +[5.059s] [ext: omni.physx.foundation-107.3.26] startup +[5.061s] [ext: omni.localcache-107.3.26] startup +[5.062s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[5.063s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[5.064s] [ext: omni.kit.stage_template.core-1.1.22] startup +[5.064s] [ext: omni.usdphysics-107.3.26] startup +[5.067s] [ext: omni.kit.window.file-2.0.5] startup +[5.069s] [ext: omni.physx.cooking-107.3.26] startup +[5.073s] [ext: omni.physics-107.3.26] startup +[5.076s] [ext: omni.kit.window.property-1.12.1] startup +[5.079s] [ext: omni.kit.window.content_browser-3.1.3] startup +[5.090s] [ext: omni.physx-107.3.26] startup +[5.100s] [ext: omni.physics.stageupdate-107.3.26] startup +[5.102s] [ext: omni.kit.property.usd-4.5.12] startup +[5.112s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[5.113s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T03:28:34Z [5,091ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[5.116s] [ext: omni.kit.widget.prompt-1.0.7] startup +[5.116s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[5.129s] [ext: omni.kit.viewport.actions-107.0.2] startup +[5.133s] [ext: omni.inspect-1.0.2] startup +[5.134s] [ext: omni.kit.widget.layers-1.8.6] startup +[5.145s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[5.147s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[5.153s] [ext: omni.graph.core-2.184.5] startup +[5.156s] [ext: omni.kit.numpy.common-0.1.3] startup +[5.158s] [ext: omni.usdphysics.ui-107.3.26] startup +[5.185s] [ext: omni.physx.commands-107.3.26] startup +[5.189s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[5.189s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T03:28:34Z [5,171ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[5.196s] [ext: omni.physx.ui-107.3.26] startup +[5.227s] [ext: isaacsim.core.version-2.0.6] startup +[5.228s] [ext: omni.physics.tensors-107.3.26] startup +[5.233s] [ext: omni.warp.core-1.8.2] startup +[5.422s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.423s] [ext: isaacsim.storage.native-1.5.1] startup +[5.425s] [ext: omni.physx.tensors-107.3.26] startup +[5.430s] [ext: isaacsim.core.utils-3.5.1] startup +[5.433s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.795s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.796s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.798s] [ext: omni.kit.window.stage-2.6.1] startup +[6.807s] [ext: omni.kit.menu.create-2.0.1] startup +[6.808s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.815s] [ext: omni.kit.scripting-107.3.2] startup +[6.819s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.823s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.824s] [ext: omni.graph.tools-1.79.2] startup +[6.846s] [ext: omni.ui_query-1.1.8] startup +[6.846s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.847s] [ext: omni.graph-1.141.2] startup +[6.893s] [ext: omni.graph.action_core-1.1.7] startup +[6.895s] [ext: omni.kit.ui_test-1.3.7] startup +[6.898s] [ext: omni.kit.browser.core-2.3.13] startup +[6.903s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.907s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.912s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.917s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.927s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.934s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.950s] [ext: omni.graph.action-1.130.0] startup +[6.954s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.959s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.968s] [ext: isaacsim.gui.components-1.2.1] startup +[6.980s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.988s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[7.096s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.100s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.106s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.179s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T03:28:36Z [7,157ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.184s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.184s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.188s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.194s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.197s] [ext: omni.graph.image.core-0.6.1] startup +[7.198s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.199s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.200s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.202s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.205s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.207s] [ext: omni.graph.nodes-1.170.10] startup +[7.219s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.224s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.228s] [ext: omni.syntheticdata-0.6.13] startup +[7.255s] [ext: omni.videoencoding-0.1.2] startup +[7.261s] [ext: omni.warp-1.8.2] startup +[7.269s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.294s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.298s] [ext: isaacsim.core.prims-0.6.1] startup +[7.357s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.368s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T03:28:36Z [7,519ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T03:28:36Z [7,519ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T03:28:36Z [7,520ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.553s] [ext: isaacsim.core.api-4.8.0] startup +[7.587s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.668s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.679s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.686s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.693s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.713s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.720s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.742s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.755s] [ext: omni.sensors.net-1.0.0] startup +[7.781s] [ext: isaacsim.app.about-2.0.11] startup +[7.793s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.799s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.809s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.850s] [ext: omni.kit.property.audio-1.0.16] startup +[7.886s] [ext: omni.kit.property.camera-1.0.10] startup +[7.903s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.923s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.952s] [ext: omni.kit.property.light-1.0.12] startup +[8.034s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.048s] [ext: omni.kit.selection-0.1.6] startup +[8.098s] [ext: omni.kit.property.material-1.11.9] startup +[8.287s] [ext: omni.kit.property.transform-1.5.13] startup +[8.371s] [ext: omni.kit.property.render-1.2.1] startup +[8.448s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.467s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.514s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.566s] [ext: isaacsim.gui.property-1.1.3] startup +[8.584s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.593s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.628s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.681s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.720s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.747s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.761s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.772s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.777s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.804s] [ext: omni.kit.window.console-1.1.4] startup +[8.820s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.837s] [ext: omni.ocio-0.1.1] startup +[8.845s] [ext: omni.physx.demos-107.3.26] startup +[8.899s] [ext: omni.kit.property.physx-107.3.26] startup +[8.948s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.980s] [ext: omni.asset_validator.core-1.1.6] startup +[9.084s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.093s] [ext: omni.physx.vehicle-107.3.26] startup +[9.121s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.138s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.144s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.151s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.164s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.171s] [ext: omni.physx.camera-107.3.26] startup +[9.188s] [ext: omni.anim.curve.core-1.3.1] startup +[9.208s] [ext: omni.physx.cct-107.3.26] startup +[9.223s] [ext: omni.physx.graph-107.3.26] startup +[9.242s] [ext: omni.physx.supportui-107.3.26] startup +[9.270s] [ext: omni.physx.telemetry-107.3.26] startup +[9.279s] [ext: isaaclab-0.54.3] startup +[9.598s] [ext: isaaclab_contrib-0.0.2] startup +[9.600s] [ext: isaacsim.core.throttling-2.2.2] startup +[9.603s] [ext: omni.kit.ui.actions-1.0.5] startup +[9.608s] [ext: semantics.schema.property-2.0.1] startup +[9.612s] [ext: omni.physx.bundle-107.3.26] startup +[9.615s] [ext: isaacsim.sensors.camera-1.3.6] startup +[9.620s] [ext: isaaclab_assets-0.2.4] startup +[9.921s] [ext: isaaclab_tasks-0.11.14] startup +[10.086s] [ext: omni.kit.menu.common-2.0.1] startup +[10.089s] [ext: isaaclab_rl-0.5.0] startup +[10.091s] [ext: isaaclab_mimic-1.0.16] startup +[10.093s] [ext: isaaclab.python-2.3.2] startup +[10.097s] Simulation App Starting +2026-07-24T03:28:39Z [10,153ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T03:28:39Z [10,158ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T03:28:39Z [10,158ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T03:28:39Z [10,158ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T03:28:39Z [10,189ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[10.244s] app ready +2026-07-24T03:28:40Z [11,024ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T03:28:40Z [11,024ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T03:28:40Z [11,024ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T03:28:40Z [11,024ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[14.753s] 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=42 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=42 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_11-28-58.log +====================================================================================== + +11:28:58 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 42 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T03:28:58Z [29,426ms] [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 +2026-07-24T03:28:58Z [29,502ms] [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. +2026-07-24T03:28:58Z [29,518ms] [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. +2026-07-24T03:28:58Z [29,530ms] [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 : 0.358760 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T03:28:58Z [29,546ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +2026-07-24T03:28:58Z [29,553ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +2026-07-24T03:28:59Z [30,012ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +2026-07-24T03:28:59Z [30,012ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +2026-07-24T03:28:59Z [30,015ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +2026-07-24T03:28:59Z [30,015ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +2026-07-24T03:28:59Z [30,016ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +2026-07-24T03:28:59Z [30,016ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56071a7614d0:World0.usd@ <0x56071a7624d0>) + +[INFO]: Time taken for simulation start : 0.702394 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T03:29:07Z [37,790ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T03:29:07Z [38,149ms] [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 +2026-07-24T03:29:07Z [38,149ms] [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 +2026-07-24T03:29:07Z [38,149ms] [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 +2026-07-24T03:29:07Z [38,149ms] [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 +2026-07-24T03:29:18Z [48,849ms] [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=42 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.03641499951481819, -0.17199000716209412, 0.7724999785423279], 'quat': [-0.27312999963760376, -0.0, 0.0, 0.9619770050048828]}, 't1': {'center': [0.09099899977445602, -0.17600899934768677, 0.7724999785423279], 'quat': [0.7764760255813599, -9.999999974752427e-07, 9.999999974752427e-07, -0.6301469802856445]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.036400001496076584, -0.1720000058412552, 0.7724999785423279] pick_tcp=[-0.04490000009536743, -0.17720000445842743, 0.7724999785423279] waypoints=33 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0076 tracking_error=0.0256 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.03720000013709068, -0.17949999868869781, 0.7724999785423279] target=[-0.15639999508857727, -0.16820000112056732, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1207 tracking_error=0.0090 gripper_position=0.1587 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.15629999339580536, -0.15929999947547913, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.15129999816417694, -0.00019999999494757503, 0.019899999722838402] +[collect][auto_swap_T] right_pick label=t1 center=[0.09099999815225601, -0.17599999904632568, 0.7724999785423279] pick_tcp=[0.09309999644756317, -0.1858000010251999, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0006 tracking_error=0.0255 gripper_position=0.8000 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.09049999713897705, -0.1762000024318695, 0.7724999785423279] target=[0.21089999377727509, -0.17980000376701355, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=right_stage waypoints=15 +[collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1172 tracking_error=0.0251 gripper_position=0.1593 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.20579999685287476, -0.15520000457763672, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.15279999375343323, -0.00019999999494757503, 0.028699999675154686] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=100.75 +[collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect][auto_swap_T] left_transport step=20 xy=0.1484 z=0.0001 yaw_deg=100.53 +[collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect][auto_swap_T] left_transport step=40 xy=0.0452 z=0.0002 yaw_deg=100.28 +[collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect][auto_swap_T] left_transport step=48 xy=0.0041 z=0.0002 yaw_deg=100.11 +[collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0008 z=0.0002 yaw_deg=83.04 +[collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect][auto_swap_T] left_rotate step=80 xy=0.0007 z=0.0002 yaw_deg=56.72 +[collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect][auto_swap_T] left_rotate step=100 xy=0.0007 z=0.0001 yaw_deg=30.44 +[collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect][auto_swap_T] left_rotate step=120 xy=0.0029 z=0.0002 yaw_deg=4.51 +[collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect][auto_swap_T] left_rotate step=132 xy=0.0049 z=0.0002 yaw_deg=0.11 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect][auto_swap_T] left_align step=134 xy=0.0030 z=0.0001 yaw_deg=0.24 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect][auto_swap_T] left_release step=135 xy=0.0018 z=0.0002 yaw_deg=0.19 +[collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect][auto_swap_T] left_release step=140 xy=0.0009 z=0.0040 yaw_deg=0.14 +[collect][auto_swap_T] left_feedback released center=[0.09139999747276306, -0.17679999768733978, 0.7724999785423279] quat=[0.7756999731063843, -0.0, 0.0, -0.6310999989509583] +[collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.2071000039577484, -0.14480000734329224, 0.7736999988555908] lifted=0.0012 ee_to_object_pos=[0.15399999916553497, -0.00019999999494757503, 0.028599999845027924] +[collect][auto_swap_T] right_detour obstacle=[0.09099999815225601, -0.17599999904632568, 0.7724999785423279] waypoint=[0.09610000252723694, -0.013000000268220901, 0.7936999797821045] clearance=0.1631 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.036400001496076584, -0.1720000058412552, 0.7724999785423279] waypoints=42 +[collect][auto_swap_T] phase=right_place waypoints=42 +[collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect][auto_swap_T] right_rotate step=2 xy=0.0005 z=0.0001 yaw_deg=-0.13 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect][auto_swap_T] right_align step=3 xy=0.0014 z=0.0040 yaw_deg=0.10 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect][auto_swap_T] right_release step=4 xy=0.0002 z=0.0021 yaw_deg=0.34 +[collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect][auto_swap_T] right_feedback released center=[-0.03680000081658363, -0.17219999432563782, 0.7724999785423279] quat=[-0.2685999870300293, 0.0, -0.0, 0.9631999731063843] +[collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.091359, -0.176815, 0.7725], 'quat': [0.775711, -1e-06, 1e-06, -0.631089]}, 't1': {'pos': [-0.036754, -0.17219, 0.7725], 'quat': [-0.268627, 1e-06, -1e-06, 0.963244]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_officialv29_seed42_official400.hdf5 +2026-07-24T03:30:53Z [144,029ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T03:30:53Z [144,029ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[144.463s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv31_seed23_official400.log b/yzr/swap_T/logs/swap_T_officialv31_seed23_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..ffa7b7a7bf7fab0717f9d71d0253be7dbb215fd8 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv31_seed23_official400.log @@ -0,0 +1,882 @@ +[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_120529.log +[0.062s] [ext: omni.kit.async_engine-0.0.3] startup +[0.203s] [ext: omni.metrics.core-0.0.3] startup +[0.203s] [ext: omni.client.lib-1.1.0] startup +[0.218s] [ext: omni.blobkey-1.1.2] startup +[0.218s] [ext: omni.stats-1.0.1] startup +[0.219s] [ext: omni.datastore-0.0.0] startup +[0.225s] [ext: omni.client-1.3.0] startup +[0.230s] [ext: omni.ujitso.default-1.0.0] startup +[0.232s] [ext: omni.hsscclient-1.1.2] startup +[0.266s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.268s] [ext: omni.assets.plugins-0.0.0] startup +[0.269s] [ext: omni.gpu_foundation-0.0.0] startup +[0.276s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T04:05:30Z [251ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:05:30Z [251ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.278s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T04:05:30Z [332ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T04:05:30Z [333ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T04:05:30Z [340ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T04:05:30Z [340ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T04:05:30Z [353ms] [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. +2026-07-24T04:05:30Z [915ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:05:30Z [915ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:05:30Z [921ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:05:30Z [921ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:05:30Z [925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:05:30Z [925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:05:30Z [925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:05:30Z [925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:05:30Z [925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:05:30Z [925ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:05:30Z [925ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:05:30Z [925ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 340353 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.684s] [ext: omni.materialx.libs-1.0.7] startup +[1.693s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.694s] [ext: omni.kit.test-2.0.1] startup +[1.737s] [ext: omni.kit.pipapi-0.0.0] startup +[1.738s] [ext: omni.usd.config-1.0.6] startup +[1.741s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.742s] [ext: omni.usd.libs-1.0.1] startup +[1.853s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.854s] [ext: omni.mdl-56.0.3] startup +[1.876s] [ext: omni.iray.libs-0.0.0] startup +[1.882s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.884s] [ext: omni.kit.usd.mdl-1.1.5] startup +[1.989s] [ext: omni.kit.telemetry-0.5.2] startup +[2.042s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T04:05:31Z [2,017ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:05:31Z [2,017ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.046s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T04:05:31Z [2,038ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:05:31Z [2,038ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:05:31Z [2,047ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:05:31Z [2,047ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.075s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.077s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T04:05:31Z [2,055ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:05:31Z [2,055ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:05:31Z [2,056ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:05:31Z [2,056ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:05:31Z [2,057ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:05:31Z [2,057ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.176s] [ext: omni.ui-2.27.1] startup +[2.187s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.188s] [ext: carb.audio-0.1.0] startup +[2.215s] [ext: omni.uiaudio-1.0.0] startup +[2.216s] [ext: omni.kit.uiapp-0.0.0] startup +[2.216s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.219s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.226s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.229s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.233s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.236s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.263s] [ext: omni.usd_resolver-1.0.0] startup +[2.267s] [ext: omni.usd.core-1.5.3] startup +[2.270s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.295s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.304s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.338s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.339s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.340s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.345s] [ext: omni.graph.exec-0.9.6] startup +[2.346s] [ext: omni.kit.actions.core-1.0.0] startup +[2.348s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.348s] [ext: omni.kit.exec.core-0.13.4] startup +[2.350s] [ext: omni.kit.commands-1.4.10] startup +[2.354s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.357s] [ext: omni.activity.core-1.0.3] startup +[2.359s] [ext: omni.resourcemonitor-107.0.1] startup +[2.361s] [ext: omni.timeline-1.0.14] startup +[2.363s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.365s] [ext: usdrt.scenegraph-7.6.1] startup +[2.404s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.406s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.414s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.420s] [ext: omni.usd-1.13.10] startup +[2.450s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.464s] [ext: omni.index.libs-380600.8087.0] startup +[2.464s] [ext: omni.volume-0.5.2] startup +[2.467s] [ext: omni.ujitso.client-0.0.0] startup +[2.467s] [ext: omni.index-1.0.1] startup +[2.468s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.469s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T04:05:32Z [2,465ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.510s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.512s] [ext: omni.kit.clipboard-1.0.5] startup +[2.512s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.516s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.522s] [ext: omni.kit.menu.core-1.1.2] startup +[2.523s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.526s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.527s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.528s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.529s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.530s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.534s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.534s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.543s] [ext: omni.ui.scene-1.11.5] startup +[2.548s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.548s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.562s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.569s] [ext: omni.kit.context_menu-1.8.6] startup +[2.571s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.577s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.581s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.583s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.584s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.585s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.588s] [ext: omni.kit.material.library-2.0.7] startup +[2.593s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.596s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.598s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.616s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.620s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.625s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.626s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.630s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.634s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.635s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.637s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.638s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.639s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.640s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.647s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.650s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.650s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.652s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.653s] [ext: omni.fabric.commands-1.1.6] startup +[2.656s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.656s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.658s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.659s] [ext: omni.debugdraw-0.1.4] startup +[2.663s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.674s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.675s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.675s] [ext: omni.kvdb-107.3.26] startup +[2.676s] [ext: omni.convexdecomposition-107.3.26] startup +[2.680s] [ext: omni.physx.foundation-107.3.26] startup +[2.681s] [ext: omni.localcache-107.3.26] startup +[2.683s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.684s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.684s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.685s] [ext: omni.usdphysics-107.3.26] startup +[2.687s] [ext: omni.kit.window.file-2.0.5] startup +[2.690s] [ext: omni.physx.cooking-107.3.26] startup +[2.694s] [ext: omni.physics-107.3.26] startup +[2.697s] [ext: omni.kit.window.property-1.12.1] startup +[2.699s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.710s] [ext: omni.physx-107.3.26] startup +[2.721s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.723s] [ext: omni.kit.property.usd-4.5.12] startup +[2.733s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.734s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T04:05:32Z [2,710ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.737s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.737s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.750s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.754s] [ext: omni.inspect-1.0.2] startup +[2.756s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.769s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.770s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.777s] [ext: omni.graph.core-2.184.5] startup +[2.780s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.782s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.809s] [ext: omni.physx.commands-107.3.26] startup +[2.813s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.814s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T04:05:32Z [2,794ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.821s] [ext: omni.physx.ui-107.3.26] startup +[2.852s] [ext: isaacsim.core.version-2.0.6] startup +[2.853s] [ext: omni.physics.tensors-107.3.26] startup +[2.858s] [ext: omni.warp.core-1.8.2] startup +[3.052s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.054s] [ext: isaacsim.storage.native-1.5.1] startup +[3.055s] [ext: omni.physx.tensors-107.3.26] startup +[3.061s] [ext: isaacsim.core.utils-3.5.1] startup +[3.064s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.421s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.422s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.423s] [ext: omni.kit.window.stage-2.6.1] startup +[4.428s] [ext: omni.kit.menu.create-2.0.1] startup +[4.429s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.435s] [ext: omni.kit.scripting-107.3.2] startup +[4.439s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.443s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.443s] [ext: omni.graph.tools-1.79.2] startup +[4.465s] [ext: omni.ui_query-1.1.8] startup +[4.466s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.466s] [ext: omni.graph-1.141.2] startup +[4.509s] [ext: omni.graph.action_core-1.1.7] startup +[4.510s] [ext: omni.kit.ui_test-1.3.7] startup +[4.515s] [ext: omni.kit.browser.core-2.3.13] startup +[4.520s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.523s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.528s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.532s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.547s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.551s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.565s] [ext: omni.graph.action-1.130.0] startup +[4.570s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.574s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.581s] [ext: isaacsim.gui.components-1.2.1] startup +[4.587s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.595s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.726s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.733s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.745s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.860s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T04:05:34Z [4,842ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.870s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.873s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.877s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.884s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.888s] [ext: omni.graph.image.core-0.6.1] startup +[4.890s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.891s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.893s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.897s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.900s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.902s] [ext: omni.graph.nodes-1.170.10] startup +[4.913s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.919s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.924s] [ext: omni.syntheticdata-0.6.13] startup +[4.957s] [ext: omni.videoencoding-0.1.2] startup +[4.964s] [ext: omni.warp-1.8.2] startup +[4.970s] [ext: omni.kit.window.material_graph-1.9.1] startup +[4.989s] [ext: omni.graph.scriptnode-1.50.0] startup +[4.994s] [ext: isaacsim.core.prims-0.6.1] startup +[5.036s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.046s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T04:05:35Z [5,289ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T04:05:35Z [5,289ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T04:05:35Z [5,292ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.328s] [ext: isaacsim.core.api-4.8.0] startup +[5.444s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.688s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.721s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.777s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.799s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.848s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.868s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.916s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.940s] [ext: omni.sensors.net-1.0.0] startup +[5.962s] [ext: isaacsim.app.about-2.0.11] startup +[5.983s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.986s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.000s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.094s] [ext: omni.kit.property.audio-1.0.16] startup +[6.139s] [ext: omni.kit.property.camera-1.0.10] startup +[6.155s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.216s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.266s] [ext: omni.kit.property.light-1.0.12] startup +[6.332s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.340s] [ext: omni.kit.selection-0.1.6] startup +[6.367s] [ext: omni.kit.property.material-1.11.9] startup +[6.671s] [ext: omni.kit.property.transform-1.5.13] startup +[6.783s] [ext: omni.kit.property.render-1.2.1] startup +[6.858s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.872s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.917s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.965s] [ext: isaacsim.gui.property-1.1.3] startup +[6.978s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.987s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.018s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.055s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.090s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.117s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.132s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.142s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.147s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.173s] [ext: omni.kit.window.console-1.1.4] startup +[7.188s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.204s] [ext: omni.ocio-0.1.1] startup +[7.211s] [ext: omni.physx.demos-107.3.26] startup +[7.261s] [ext: omni.kit.property.physx-107.3.26] startup +[7.312s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.342s] [ext: omni.asset_validator.core-1.1.6] startup +[7.443s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.451s] [ext: omni.physx.vehicle-107.3.26] startup +[7.482s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.499s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.505s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.513s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.526s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.533s] [ext: omni.physx.camera-107.3.26] startup +[7.545s] [ext: omni.anim.curve.core-1.3.1] startup +[7.571s] [ext: omni.physx.cct-107.3.26] startup +[7.587s] [ext: omni.physx.graph-107.3.26] startup +[7.606s] [ext: omni.physx.supportui-107.3.26] startup +[7.625s] [ext: omni.physx.telemetry-107.3.26] startup +[7.638s] [ext: isaaclab-0.54.3] startup +[7.972s] [ext: isaaclab_contrib-0.0.2] startup +[7.975s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.978s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.983s] [ext: semantics.schema.property-2.0.1] startup +[7.987s] [ext: omni.physx.bundle-107.3.26] startup +[7.991s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.997s] [ext: isaaclab_assets-0.2.4] startup +[8.304s] [ext: isaaclab_tasks-0.11.14] startup +[8.470s] [ext: omni.kit.menu.common-2.0.1] startup +[8.473s] [ext: isaaclab_rl-0.5.0] startup +[8.476s] [ext: isaaclab_mimic-1.0.16] startup +[8.478s] [ext: isaaclab.python-2.3.2] startup +[8.481s] Simulation App Starting +2026-07-24T04:05:38Z [8,559ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T04:05:38Z [8,559ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T04:05:38Z [8,559ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T04:05:38Z [8,590ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.647s] app ready +2026-07-24T04:05:39Z [9,467ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T04:05:39Z [9,467ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T04:05:39Z [9,467ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T04:05:39Z [9,467ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[12.876s] 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=23 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=23 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_12-05-57.log +====================================================================================== + +12:05:57 [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 : 23 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T04:05:58Z [28,240ms] [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 +2026-07-24T04:05:58Z [28,312ms] [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. +2026-07-24T04:05:58Z [28,327ms] [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. +2026-07-24T04:05:58Z [28,339ms] [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 : 0.353223 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T04:05:58Z [28,353ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +2026-07-24T04:05:58Z [28,360ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +2026-07-24T04:05:58Z [28,822ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +2026-07-24T04:05:58Z [28,822ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +2026-07-24T04:05:58Z [28,825ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +2026-07-24T04:05:58Z [28,825ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +2026-07-24T04:05:58Z [28,825ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +2026-07-24T04:05:58Z [28,826ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5594e720e380:World0.usd@ <0x5594e720f380>) + +[INFO]: Time taken for simulation start : 0.705415 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T04:06:05Z [35,756ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T04:06:12Z [42,675ms] [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 +2026-07-24T04:06:12Z [42,675ms] [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 +2026-07-24T04:06:12Z [42,675ms] [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 +2026-07-24T04:06:12Z [42,675ms] [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 +2026-07-24T04:06:16Z [46,925ms] [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=23 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07281900197267532, -0.15782800316810608, 0.7724999785423279], 'quat': [0.8291429877281189, 0.0, -0.0, 0.5590360164642334]}, 't1': {'center': [0.057252999395132065, -0.15048600733280182, 0.7724999785423279], 'quat': [-0.4315359890460968, 0.0, 0.0, 0.9020959734916687]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07280000299215317, -0.15780000388622284, 0.7724999785423279] pick_tcp=[-0.06909999996423721, -0.1485999971628189, 0.7724999785423279] waypoints=33 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0165 tracking_error=0.0085 gripper_position=0.0000 secured=True +[collect][auto_swap_T] left_stage observed=[-0.0892999991774559, -0.1589999943971634, 0.7724999785423279] target=[-0.19259999692440033, -0.16459999978542328, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1077 tracking_error=0.0097 gripper_position=0.1596 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19699999690055847, -0.1559000015258789, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.14949999749660492, -0.00019999999494757503, -0.015200000256299973] +[collect][auto_swap_T] right_pick label=t1 center=[0.05730000138282776, -0.15049999952316284, 0.7724999785423279] pick_tcp=[0.050999999046325684, -0.1582999974489212, 0.7724999785423279] waypoints=33 +[collect][auto_swap_T] phase=right_pick waypoints=33 +[collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0114 tracking_error=0.0138 gripper_position=0.1675 secured=True +[collect][auto_swap_T] right_stage observed=[0.06840000301599503, -0.14830000698566437, 0.7735000252723694] target=[0.17710000276565552, -0.1437000036239624, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1092 tracking_error=0.0004 gripper_position=0.1611 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.17749999463558197, -0.1437000036239624, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.15000000596046448, 0.0, 0.007300000172108412] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=166.68 +[collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect][auto_swap_T] left_transport step=20 xy=0.1558 z=0.0002 yaw_deg=-166.64 +[collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect][auto_swap_T] left_transport step=40 xy=0.0532 z=0.0002 yaw_deg=-166.91 +[collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect][auto_swap_T] left_transport step=60 xy=0.0062 z=0.0006 yaw_deg=-173.98 +[collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect][auto_swap_T] left_transport step=61 xy=0.0042 z=0.0006 yaw_deg=-174.38 +[collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect][auto_swap_T] left_rotate step=80 xy=0.0119 z=0.0001 yaw_deg=-146.25 +[collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect][auto_swap_T] left_rotate step=100 xy=0.0049 z=0.0000 yaw_deg=-111.63 +[collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect][auto_swap_T] left_rotate step=120 xy=0.0003 z=0.0002 yaw_deg=-80.59 +[collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect][auto_swap_T] left_rotate step=140 xy=0.0015 z=0.0000 yaw_deg=-55.15 +[collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect][auto_swap_T] left_rotate step=160 xy=0.0002 z=0.0001 yaw_deg=-29.70 +[collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect][auto_swap_T] left_rotate step=180 xy=0.0001 z=0.0001 yaw_deg=-3.98 +[collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect][auto_swap_T] left_rotate step=183 xy=0.0001 z=0.0001 yaw_deg=-0.20 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect][auto_swap_T] left_align step=185 xy=0.0012 z=0.0002 yaw_deg=-0.16 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect][auto_swap_T] left_release step=186 xy=0.0000 z=0.0001 yaw_deg=0.07 +[collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect][auto_swap_T] left_feedback released center=[0.05719999969005585, -0.15070000290870667, 0.7724999785423279] quat=[-0.43209999799728394, 0.0, 0.0, 0.9017999768257141] +[collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.22599999606609344, -0.14730000495910645, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.15029999613761902, -0.00039999998989515007, 0.007499999832361937] +[collect][auto_swap_T] right_detour obstacle=[0.05730000138282776, -0.15049999952316284, 0.7724999785423279] waypoint=[0.066600002348423, -0.3158999979496002, 0.7926999926567078] clearance=0.1657 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07280000299215317, -0.15780000388622284, 0.7724999785423279] waypoints=59 +[collect][auto_swap_T] phase=right_place waypoints=59 +[collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.15 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect][auto_swap_T] right_align step=2 xy=0.0014 z=0.0040 yaw_deg=-0.01 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect][auto_swap_T] right_release step=3 xy=0.0003 z=0.0011 yaw_deg=-0.04 +[collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect][auto_swap_T] right_feedback released center=[-0.07270000129938126, -0.1574999988079071, 0.7724999785423279] quat=[0.8284000158309937, 0.0, 0.0, 0.5601999759674072] +[collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [0.001500000013038516, 0.03350000083446503, 0.35499998927116394], 'rot_deg': 63.09, 'real': [-0.2980000078678131, -0.3188000023365021, 1.2764999866485596, 0.6412000060081482, 0.28610000014305115, 0.43459999561309814, 0.5641000270843506], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.00019999999494757503, -0.000699999975040555, 0.011099999770522118], 'rot_deg': 0.56, 'real': [0.3001999855041504, -0.3529999852180481, 0.9326000213623047, 0.7063000202178955, 0.0032999999821186066, -0.0035000001080334187, 0.7078999876976013], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=18 +[collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect] demo=0 step=389/400 +env0 step: 389 / 400 [collect] demo=0 step=390/400 +env0 step: 390 / 400 [collect] demo=0 step=391/400 +env0 step: 391 / 400 [collect] demo=0 step=392/400 +env0 step: 392 / 400 [collect] demo=0 step=393/400 +env0 step: 393 / 400 [collect] demo=0 step=394/400 +env0 step: 394 / 400 [collect] demo=0 step=395/400 +env0 step: 395 / 400 [collect] demo=0 step=396/400 +env0 step: 396 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.057154, -0.150731, 0.7725], 'quat': [-0.432098, 0.0, 0.0, 0.901827]}, 't1': {'pos': [-0.072737, -0.157504, 0.7725], 'quat': [0.828382, 1e-06, 0.0, 0.560163]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_officialv31_seed23_official400.hdf5 +2026-07-24T04:08:14Z [164,609ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:08:14Z [164,609ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[165.061s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv32_seed47_official400.log b/yzr/swap_T/logs/swap_T_officialv32_seed47_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..6b7a54f5248b2c2e7b986da353a6780488c726f7 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv32_seed47_official400.log @@ -0,0 +1,874 @@ +[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_123349.log +[0.066s] [ext: omni.kit.async_engine-0.0.3] startup +[0.211s] [ext: omni.metrics.core-0.0.3] startup +[0.211s] [ext: omni.client.lib-1.1.0] startup +[0.227s] [ext: omni.blobkey-1.1.2] startup +[0.227s] [ext: omni.stats-1.0.1] startup +[0.228s] [ext: omni.datastore-0.0.0] startup +[0.235s] [ext: omni.client-1.3.0] startup +[0.240s] [ext: omni.ujitso.default-1.0.0] startup +[0.242s] [ext: omni.hsscclient-1.1.2] startup +[0.267s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.269s] [ext: omni.assets.plugins-0.0.0] startup +[0.270s] [ext: omni.gpu_foundation-0.0.0] startup +[0.277s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T04:33:49Z [253ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:33:49Z [253ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.279s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T04:33:49Z [337ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T04:33:49Z [344ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T04:33:49Z [344ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T04:33:49Z [344ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T04:33:49Z [399ms] [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. +2026-07-24T04:33:50Z [1,137ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:33:50Z [1,138ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:33:50Z [1,139ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:33:50Z [1,139ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:33:50Z [1,140ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:33:50Z [1,140ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:33:50Z [1,141ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:33:50Z [1,141ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:33:50Z [1,141ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:33:50Z [1,141ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:33:50Z [1,141ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:33:50Z [1,141ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 305486 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.940s] [ext: omni.materialx.libs-1.0.7] startup +[1.949s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.950s] [ext: omni.kit.test-2.0.1] startup +[1.994s] [ext: omni.kit.pipapi-0.0.0] startup +[1.994s] [ext: omni.usd.config-1.0.6] startup +[1.998s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.998s] [ext: omni.usd.libs-1.0.1] startup +[2.112s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.113s] [ext: omni.mdl-56.0.3] startup +[2.135s] [ext: omni.iray.libs-0.0.0] startup +[2.142s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.144s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.249s] [ext: omni.kit.telemetry-0.5.2] startup +[2.304s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T04:33:51Z [2,280ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:33:51Z [2,280ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.308s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T04:33:51Z [2,303ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:33:51Z [2,303ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:33:51Z [2,312ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:33:51Z [2,312ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.339s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.342s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T04:33:51Z [2,320ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:33:51Z [2,320ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:33:51Z [2,321ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:33:51Z [2,321ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:33:51Z [2,322ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:33:51Z [2,322ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.444s] [ext: omni.ui-2.27.1] startup +[2.455s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.456s] [ext: carb.audio-0.1.0] startup +[2.485s] [ext: omni.uiaudio-1.0.0] startup +[2.487s] [ext: omni.kit.uiapp-0.0.0] startup +[2.487s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.489s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.497s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.500s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.503s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.507s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.531s] [ext: omni.usd_resolver-1.0.0] startup +[2.535s] [ext: omni.usd.core-1.5.3] startup +[2.538s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.563s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.572s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.607s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.608s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.609s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.614s] [ext: omni.graph.exec-0.9.6] startup +[2.615s] [ext: omni.kit.actions.core-1.0.0] startup +[2.617s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.618s] [ext: omni.kit.exec.core-0.13.4] startup +[2.619s] [ext: omni.kit.commands-1.4.10] startup +[2.623s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.627s] [ext: omni.activity.core-1.0.3] startup +[2.628s] [ext: omni.resourcemonitor-107.0.1] startup +[2.630s] [ext: omni.timeline-1.0.14] startup +[2.632s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.634s] [ext: usdrt.scenegraph-7.6.1] startup +[2.674s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.675s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.684s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.690s] [ext: omni.usd-1.13.10] startup +[2.717s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.731s] [ext: omni.index.libs-380600.8087.0] startup +[2.731s] [ext: omni.volume-0.5.2] startup +[2.734s] [ext: omni.ujitso.client-0.0.0] startup +[2.734s] [ext: omni.index-1.0.1] startup +[2.735s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.736s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T04:33:51Z [2,733ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.777s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.779s] [ext: omni.kit.clipboard-1.0.5] startup +[2.780s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.783s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.790s] [ext: omni.kit.menu.core-1.1.2] startup +[2.790s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.793s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.795s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.795s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.796s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.797s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.801s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.802s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.811s] [ext: omni.ui.scene-1.11.5] startup +[2.815s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.816s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.830s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.837s] [ext: omni.kit.context_menu-1.8.6] startup +[2.839s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.845s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.849s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.851s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.852s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.852s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.856s] [ext: omni.kit.material.library-2.0.7] startup +[2.861s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.864s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.866s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.881s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.885s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.890s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.891s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.895s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.899s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.900s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.901s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.903s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.904s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.905s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.911s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.914s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.915s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.917s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.918s] [ext: omni.fabric.commands-1.1.6] startup +[2.920s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.922s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.923s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.924s] [ext: omni.debugdraw-0.1.4] startup +[2.928s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.939s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.940s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.940s] [ext: omni.kvdb-107.3.26] startup +[2.942s] [ext: omni.convexdecomposition-107.3.26] startup +[2.945s] [ext: omni.physx.foundation-107.3.26] startup +[2.947s] [ext: omni.localcache-107.3.26] startup +[2.948s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.949s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.950s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.950s] [ext: omni.usdphysics-107.3.26] startup +[2.953s] [ext: omni.kit.window.file-2.0.5] startup +[2.955s] [ext: omni.physx.cooking-107.3.26] startup +[2.959s] [ext: omni.physics-107.3.26] startup +[2.962s] [ext: omni.kit.window.property-1.12.1] startup +[2.965s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.976s] [ext: omni.physx-107.3.26] startup +[2.987s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.989s] [ext: omni.kit.property.usd-4.5.12] startup +[3.000s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.001s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T04:33:52Z [2,977ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.003s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.004s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.016s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.020s] [ext: omni.inspect-1.0.2] startup +[3.022s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.033s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.034s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.041s] [ext: omni.graph.core-2.184.5] startup +[3.045s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.046s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.073s] [ext: omni.physx.commands-107.3.26] startup +[3.077s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.078s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T04:33:52Z [3,059ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.085s] [ext: omni.physx.ui-107.3.26] startup +[3.117s] [ext: isaacsim.core.version-2.0.6] startup +[3.118s] [ext: omni.physics.tensors-107.3.26] startup +[3.123s] [ext: omni.warp.core-1.8.2] startup +[3.323s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.325s] [ext: isaacsim.storage.native-1.5.1] startup +[3.326s] [ext: omni.physx.tensors-107.3.26] startup +[3.332s] [ext: isaacsim.core.utils-3.5.1] startup +[3.336s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.753s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.754s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.756s] [ext: omni.kit.window.stage-2.6.1] startup +[4.761s] [ext: omni.kit.menu.create-2.0.1] startup +[4.762s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.768s] [ext: omni.kit.scripting-107.3.2] startup +[4.773s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.777s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.777s] [ext: omni.graph.tools-1.79.2] startup +[4.799s] [ext: omni.ui_query-1.1.8] startup +[4.800s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.800s] [ext: omni.graph-1.141.2] startup +[4.843s] [ext: omni.graph.action_core-1.1.7] startup +[4.845s] [ext: omni.kit.ui_test-1.3.7] startup +[4.848s] [ext: omni.kit.browser.core-2.3.13] startup +[4.854s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.857s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.862s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.866s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.880s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.886s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.901s] [ext: omni.graph.action-1.130.0] startup +[4.906s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.912s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.919s] [ext: isaacsim.gui.components-1.2.1] startup +[4.926s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.937s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.071s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.081s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.093s] [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( +[5.190s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T04:33:54Z [5,170ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.198s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.200s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.205s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.212s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.216s] [ext: omni.graph.image.core-0.6.1] startup +[5.218s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.219s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.221s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.226s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.228s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.231s] [ext: omni.graph.nodes-1.170.10] startup +[5.242s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.248s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.254s] [ext: omni.syntheticdata-0.6.13] startup +[5.291s] [ext: omni.videoencoding-0.1.2] startup +[5.295s] [ext: omni.warp-1.8.2] startup +[5.305s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.322s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.327s] [ext: isaacsim.core.prims-0.6.1] startup +[5.368s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.380s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T04:33:54Z [5,543ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T04:33:54Z [5,543ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T04:33:54Z [5,545ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.575s] [ext: isaacsim.core.api-4.8.0] startup +[5.618s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.683s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.705s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.735s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.757s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.784s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.804s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.828s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.842s] [ext: omni.sensors.net-1.0.0] startup +[5.855s] [ext: isaacsim.app.about-2.0.11] startup +[5.860s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.862s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.869s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.878s] [ext: omni.kit.property.audio-1.0.16] startup +[5.888s] [ext: omni.kit.property.camera-1.0.10] startup +[5.898s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.928s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.017s] [ext: omni.kit.property.light-1.0.12] startup +[6.073s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.081s] [ext: omni.kit.selection-0.1.6] startup +[6.092s] [ext: omni.kit.property.material-1.11.9] startup +[6.190s] [ext: omni.kit.property.transform-1.5.13] startup +[6.211s] [ext: omni.kit.property.render-1.2.1] startup +[6.226s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.239s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.312s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.374s] [ext: isaacsim.gui.property-1.1.3] startup +[6.443s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.466s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.531s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.576s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.843s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.108s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.214s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.243s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.254s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.306s] [ext: omni.kit.window.console-1.1.4] startup +[7.334s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.367s] [ext: omni.ocio-0.1.1] startup +[7.371s] [ext: omni.physx.demos-107.3.26] startup +[7.434s] [ext: omni.kit.property.physx-107.3.26] startup +[7.492s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.524s] [ext: omni.asset_validator.core-1.1.6] startup +[7.638s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.648s] [ext: omni.physx.vehicle-107.3.26] startup +[7.678s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.698s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.705s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.715s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.731s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.742s] [ext: omni.physx.camera-107.3.26] startup +[7.763s] [ext: omni.anim.curve.core-1.3.1] startup +[7.784s] [ext: omni.physx.cct-107.3.26] startup +[7.804s] [ext: omni.physx.graph-107.3.26] startup +[7.831s] [ext: omni.physx.supportui-107.3.26] startup +[7.882s] [ext: omni.physx.telemetry-107.3.26] startup +[7.884s] [ext: isaaclab-0.54.3] startup +[8.182s] [ext: isaaclab_contrib-0.0.2] startup +[8.185s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.188s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.193s] [ext: semantics.schema.property-2.0.1] startup +[8.197s] [ext: omni.physx.bundle-107.3.26] startup +[8.201s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.206s] [ext: isaaclab_assets-0.2.4] startup +[8.527s] [ext: isaaclab_tasks-0.11.14] startup +[8.698s] [ext: omni.kit.menu.common-2.0.1] startup +[8.700s] [ext: isaaclab_rl-0.5.0] startup +[8.703s] [ext: isaaclab_mimic-1.0.16] startup +[8.705s] [ext: isaaclab.python-2.3.2] startup +[8.708s] Simulation App Starting +2026-07-24T04:33:58Z [8,767ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T04:33:58Z [8,772ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T04:33:58Z [8,772ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T04:33:58Z [8,772ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T04:33:58Z [8,801ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.857s] app ready +2026-07-24T04:33:59Z [9,766ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T04:33:59Z [9,767ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T04:33:59Z [9,767ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T04:33:59Z [9,767ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.356s] 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=47 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=47 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_12-34-20.log +====================================================================================== + +12:34:20 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 47 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T04:34:20Z [31,408ms] [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 +2026-07-24T04:34:20Z [31,508ms] [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. +2026-07-24T04:34:20Z [31,524ms] [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. +2026-07-24T04:34:20Z [31,535ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.461518 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T04:34:20Z [31,549ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +2026-07-24T04:34:20Z [31,555ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +2026-07-24T04:34:21Z [32,018ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +2026-07-24T04:34:21Z [32,019ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +2026-07-24T04:34:21Z [32,022ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +2026-07-24T04:34:21Z [32,022ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +2026-07-24T04:34:21Z [32,022ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +2026-07-24T04:34:21Z [32,023ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55b024334b70:World0.usd@ <0x55b024335b70>) + +[INFO]: Time taken for simulation start : 0.713040 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T04:34:30Z [41,526ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T04:34:31Z [41,998ms] [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 +2026-07-24T04:34:31Z [41,998ms] [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 +2026-07-24T04:34:31Z [41,998ms] [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 +2026-07-24T04:34:31Z [41,998ms] [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 +2026-07-24T04:34:43Z [54,711ms] [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=47 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.027950000017881393, -0.16460399329662323, 0.7724999785423279], 'quat': [0.6154599785804749, -9.999999974752427e-07, 0.0, 0.7881680130958557]}, 't1': {'center': [0.07910799980163574, -0.17128700017929077, 0.7724999785423279], 'quat': [0.9999539852142334, -1.9999999949504854e-06, 0.0, 0.009592999704182148]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.02800000086426735, -0.16459999978542328, 0.7724999785423279] pick_tcp=[-0.030400000512599945, -0.15489999949932098, 0.7724999785423279] waypoints=34 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0274 tracking_error=0.0033 gripper_position=0.3668 secured=True +[collect][auto_swap_T] left_stage observed=[-0.054999999701976776, -0.16050000488758087, 0.7724999785423279] target=[-0.1476999968290329, -0.15710000693798065, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=left_stage waypoints=12 +[collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.0914 tracking_error=0.0034 gripper_position=0.1546 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.1462000012397766, -0.15410000085830688, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.14990000426769257, -0.00039999998989515007, -0.011900000274181366] +[collect][auto_swap_T] right_pick label=t1 center=[0.07909999787807465, -0.1712999939918518, 0.7724999785423279] pick_tcp=[0.08910000324249268, -0.17110000550746918, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0183 tracking_error=0.0091 gripper_position=0.0563 secured=True +[collect][auto_swap_T] right_stage observed=[0.09629999846220016, -0.17759999632835388, 0.7739999890327454] target=[0.1988999992609024, -0.17880000174045563, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.0999 tracking_error=0.0052 gripper_position=0.1583 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.19619999825954437, -0.17440000176429749, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.14980000257492065, -0.00019999999494757503, -0.010200000368058681] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=72.94 +[collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0002 z=0.0000 yaw_deg=-48.27 +[collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0002 z=0.0000 yaw_deg=-22.27 +[collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect][auto_swap_T] left_rotate step=57 xy=0.0002 z=0.0000 yaw_deg=-0.20 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect][auto_swap_T] left_align step=60 xy=0.2172 z=0.0003 yaw_deg=-0.07 +[collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1308 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0457 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect][auto_swap_T] left_align step=111 xy=0.0034 z=0.0000 yaw_deg=-0.39 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect][auto_swap_T] left_release step=112 xy=0.0027 z=0.0000 yaw_deg=-0.31 +[collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect][auto_swap_T] left_feedback released center=[0.07880000025033951, -0.17069999873638153, 0.7724999785423279] quat=[0.9998999834060669, -0.0, -0.0, 0.011699999682605267] +[collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.19850000739097595, -0.17350000143051147, 0.7741000056266785] lifted=0.0016 ee_to_object_pos=[0.14990000426769257, -9.999999747378752e-05, -0.010599999688565731] +[collect][auto_swap_T] right_detour obstacle=[0.07909999787807465, -0.1712999939918518, 0.7724999785423279] waypoint=[0.08860000222921371, -0.01899999938905239, 0.7940999865531921] clearance=0.1525 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.02800000086426735, -0.16459999978542328, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_place waypoints=39 +[collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.16 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect][auto_swap_T] right_align step=2 xy=0.0005 z=0.0040 yaw_deg=-0.06 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect][auto_swap_T] right_release step=3 xy=0.0003 z=0.0010 yaw_deg=-0.02 +[collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect][auto_swap_T] right_feedback released center=[-0.02810000069439411, -0.16449999809265137, 0.7724999785423279] quat=[0.6144999861717224, 0.0, 0.0, 0.7889000177383423] +[collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 0.0, 1.0, 1.0] +[collect][auto_swap_T] left_mid_regrasp object=[0.0794999971985817, -0.1808999925851822, 0.7724999785423279] waypoints=79 +[collect][auto_swap_T] final_repair arm=left attempt=1 checker_terms=[1.0, 1.0, 0.0, 1.0, 1.0] +[collect][auto_swap_T] phase=left_mid_regrasp3 waypoints=79 +[collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect][auto_swap_T] left_rotate step=8 xy=0.0042 z=0.0000 yaw_deg=0.14 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect][auto_swap_T] left_align step=10 xy=0.0023 z=0.0011 yaw_deg=-0.11 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect][auto_swap_T] left_release step=11 xy=0.0001 z=0.0004 yaw_deg=0.03 +[collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect][auto_swap_T] left_feedback released center=[0.07919999957084656, -0.1712000072002411, 0.7724999785423279] quat=[1.0, -0.0, -0.0, 0.009800000116229057] +[collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.079197, -0.171204, 0.7725], 'quat': [0.999952, -1e-06, -0.0, 0.009803]}, 't1': {'pos': [-0.028102, -0.164512, 0.7725], 'quat': [0.614533, 0.0, 0.0, 0.788891]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_officialv32_seed47_official400.hdf5 +2026-07-24T04:36:38Z [169,338ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:38Z [169,338ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[169.779s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv32_seed52_official400.log b/yzr/swap_T/logs/swap_T_officialv32_seed52_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..dc3f2783f8841875c465719ba0fb07dd8ce6bab6 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv32_seed52_official400.log @@ -0,0 +1,767 @@ +[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_123628.log +[0.060s] [ext: omni.kit.async_engine-0.0.3] startup +[0.203s] [ext: omni.metrics.core-0.0.3] startup +[0.204s] [ext: omni.client.lib-1.1.0] startup +[0.219s] [ext: omni.blobkey-1.1.2] startup +[0.219s] [ext: omni.stats-1.0.1] startup +[0.220s] [ext: omni.datastore-0.0.0] startup +[0.227s] [ext: omni.client-1.3.0] startup +[0.232s] [ext: omni.ujitso.default-1.0.0] startup +[0.234s] [ext: omni.hsscclient-1.1.2] startup +[0.256s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.258s] [ext: omni.assets.plugins-0.0.0] startup +[0.259s] [ext: omni.gpu_foundation-0.0.0] startup +[0.266s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T04:36:28Z [242ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:28Z [242ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.267s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T04:36:28Z [343ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T04:36:28Z [349ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T04:36:28Z [349ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T04:36:28Z [349ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T04:36:28Z [406ms] [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. +2026-07-24T04:36:29Z [993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:36:29Z [993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:36:29Z [994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:36:29Z [994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T04:36:29Z [996ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 303173 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.724s] [ext: omni.materialx.libs-1.0.7] startup +[1.733s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.734s] [ext: omni.kit.test-2.0.1] startup +[1.777s] [ext: omni.kit.pipapi-0.0.0] startup +[1.778s] [ext: omni.usd.config-1.0.6] startup +[1.781s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.782s] [ext: omni.usd.libs-1.0.1] startup +[1.890s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.891s] [ext: omni.mdl-56.0.3] startup +[1.913s] [ext: omni.iray.libs-0.0.0] startup +[1.919s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.921s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.022s] [ext: omni.kit.telemetry-0.5.2] startup +[2.061s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T04:36:30Z [2,038ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:30Z [2,038ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.065s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T04:36:30Z [2,057ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:30Z [2,057ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:36:30Z [2,066ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:30Z [2,066ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.092s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.094s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T04:36:30Z [2,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:30Z [2,073ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:36:30Z [2,074ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:30Z [2,074ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T04:36:30Z [2,075ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:36:30Z [2,075ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.186s] [ext: omni.ui-2.27.1] startup +[2.196s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.198s] [ext: carb.audio-0.1.0] startup +[2.225s] [ext: omni.uiaudio-1.0.0] startup +[2.226s] [ext: omni.kit.uiapp-0.0.0] startup +[2.226s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.229s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.236s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.239s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.242s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.246s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.269s] [ext: omni.usd_resolver-1.0.0] startup +[2.273s] [ext: omni.usd.core-1.5.3] startup +[2.277s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.301s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.310s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.343s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.344s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.345s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.350s] [ext: omni.graph.exec-0.9.6] startup +[2.351s] [ext: omni.kit.actions.core-1.0.0] startup +[2.353s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.353s] [ext: omni.kit.exec.core-0.13.4] startup +[2.355s] [ext: omni.kit.commands-1.4.10] startup +[2.358s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.362s] [ext: omni.activity.core-1.0.3] startup +[2.364s] [ext: omni.resourcemonitor-107.0.1] startup +[2.365s] [ext: omni.timeline-1.0.14] startup +[2.367s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.369s] [ext: usdrt.scenegraph-7.6.1] startup +[2.410s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.411s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.420s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.426s] [ext: omni.usd-1.13.10] startup +[2.454s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.467s] [ext: omni.index.libs-380600.8087.0] startup +[2.467s] [ext: omni.volume-0.5.2] startup +[2.470s] [ext: omni.ujitso.client-0.0.0] startup +[2.471s] [ext: omni.index-1.0.1] startup +[2.471s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.472s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T04:36:30Z [2,469ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.512s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.514s] [ext: omni.kit.clipboard-1.0.5] startup +[2.515s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.518s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.524s] [ext: omni.kit.menu.core-1.1.2] startup +[2.525s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.528s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.530s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.531s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.532s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.533s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.537s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.537s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.546s] [ext: omni.ui.scene-1.11.5] startup +[2.551s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.551s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.566s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.573s] [ext: omni.kit.context_menu-1.8.6] startup +[2.574s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.580s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.584s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.587s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.587s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.588s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.592s] [ext: omni.kit.material.library-2.0.7] startup +[2.597s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.600s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.602s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.617s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.621s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.626s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.627s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.631s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.635s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.636s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.638s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.639s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.640s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.641s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.647s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.650s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.651s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.653s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.654s] [ext: omni.fabric.commands-1.1.6] startup +[2.656s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.657s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.659s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.660s] [ext: omni.debugdraw-0.1.4] startup +[2.664s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.675s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.676s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.676s] [ext: omni.kvdb-107.3.26] startup +[2.677s] [ext: omni.convexdecomposition-107.3.26] startup +[2.681s] [ext: omni.physx.foundation-107.3.26] startup +[2.682s] [ext: omni.localcache-107.3.26] startup +[2.684s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.684s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.685s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.685s] [ext: omni.usdphysics-107.3.26] startup +[2.688s] [ext: omni.kit.window.file-2.0.5] startup +[2.691s] [ext: omni.physx.cooking-107.3.26] startup +[2.694s] [ext: omni.physics-107.3.26] startup +[2.698s] [ext: omni.kit.window.property-1.12.1] startup +[2.700s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.711s] [ext: omni.physx-107.3.26] startup +[2.722s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.724s] [ext: omni.kit.property.usd-4.5.12] startup +[2.735s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.736s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T04:36:30Z [2,713ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.738s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.739s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.751s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.756s] [ext: omni.inspect-1.0.2] startup +[2.757s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.768s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.769s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.776s] [ext: omni.graph.core-2.184.5] startup +[2.779s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.781s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.808s] [ext: omni.physx.commands-107.3.26] startup +[2.812s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.812s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T04:36:30Z [2,794ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.819s] [ext: omni.physx.ui-107.3.26] startup +[2.851s] [ext: isaacsim.core.version-2.0.6] startup +[2.851s] [ext: omni.physics.tensors-107.3.26] startup +[2.856s] [ext: omni.warp.core-1.8.2] startup +[3.046s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.048s] [ext: isaacsim.storage.native-1.5.1] startup +[3.049s] [ext: omni.physx.tensors-107.3.26] startup +[3.055s] [ext: isaacsim.core.utils-3.5.1] startup +[3.058s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.475s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.476s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.478s] [ext: omni.kit.window.stage-2.6.1] startup +[4.486s] [ext: omni.kit.menu.create-2.0.1] startup +[4.487s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.493s] [ext: omni.kit.scripting-107.3.2] startup +[4.497s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.501s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.501s] [ext: omni.graph.tools-1.79.2] startup +[4.523s] [ext: omni.ui_query-1.1.8] startup +[4.524s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.524s] [ext: omni.graph-1.141.2] startup +[4.567s] [ext: omni.graph.action_core-1.1.7] startup +[4.568s] [ext: omni.kit.ui_test-1.3.7] startup +[4.573s] [ext: omni.kit.browser.core-2.3.13] startup +[4.578s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.580s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.587s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.589s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.598s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.606s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.619s] [ext: omni.graph.action-1.130.0] startup +[4.623s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.629s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.637s] [ext: isaacsim.gui.components-1.2.1] startup +[4.647s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.657s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[4.776s] [ext: isaacsim.core.cloner-1.4.10] startup +[4.783s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[4.789s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[4.878s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T04:36:32Z [4,862ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[4.889s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[4.892s] [ext: omni.kit.window.status_bar-0.1.9] startup +[4.896s] [ext: omni.kit.widget.graph-2.0.0] startup +[4.903s] [ext: omni.kit.stage_templates-2.0.0] startup +[4.906s] [ext: omni.graph.image.core-0.6.1] startup +[4.908s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[4.909s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[4.911s] [ext: omni.graph.image.nodes-1.3.1] startup +[4.916s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[4.918s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[4.921s] [ext: omni.graph.nodes-1.170.10] startup +[4.932s] [ext: omni.graph.ui_nodes-1.50.5] startup +[4.938s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[4.944s] [ext: omni.syntheticdata-0.6.13] startup +[4.977s] [ext: omni.videoencoding-0.1.2] startup +[4.982s] [ext: omni.warp-1.8.2] startup +[4.989s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.009s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.012s] [ext: isaacsim.core.prims-0.6.1] startup +[5.062s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.071s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T04:36:33Z [5,217ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T04:36:33Z [5,217ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T04:36:33Z [5,218ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.251s] [ext: isaacsim.core.api-4.8.0] startup +[5.342s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.440s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.459s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.472s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.481s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.507s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.541s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.573s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.588s] [ext: omni.sensors.net-1.0.0] startup +[5.618s] [ext: isaacsim.app.about-2.0.11] startup +[5.627s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.631s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.642s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.701s] [ext: omni.kit.property.audio-1.0.16] startup +[5.711s] [ext: omni.kit.property.camera-1.0.10] startup +[5.721s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.747s] [ext: omni.hydra.scene_api-0.1.2] startup +[5.763s] [ext: omni.kit.property.light-1.0.12] startup +[5.805s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[5.814s] [ext: omni.kit.selection-0.1.6] startup +[5.823s] [ext: omni.kit.property.material-1.11.9] startup +[5.860s] [ext: omni.kit.property.transform-1.5.13] startup +[5.876s] [ext: omni.kit.property.render-1.2.1] startup +[5.882s] [ext: omni.sensors.nv.radar-3.0.0] startup +[5.890s] [ext: isaacsim.gui.menu-2.4.4] startup +[5.979s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.213s] [ext: isaacsim.gui.property-1.1.3] startup +[6.282s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.366s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.489s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.521s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.570s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.590s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.613s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.624s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.628s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.655s] [ext: omni.kit.window.console-1.1.4] startup +[6.675s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.694s] [ext: omni.ocio-0.1.1] startup +[6.702s] [ext: omni.physx.demos-107.3.26] startup +[6.752s] [ext: omni.kit.property.physx-107.3.26] startup +[6.799s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.830s] [ext: omni.asset_validator.core-1.1.6] startup +[6.932s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.940s] [ext: omni.physx.vehicle-107.3.26] startup +[6.968s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[6.983s] [ext: omni.kit.window.script_editor-2.0.1] startup +[6.988s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[6.996s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.008s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.017s] [ext: omni.physx.camera-107.3.26] startup +[7.034s] [ext: omni.anim.curve.core-1.3.1] startup +[7.049s] [ext: omni.physx.cct-107.3.26] startup +[7.064s] [ext: omni.physx.graph-107.3.26] startup +[7.088s] [ext: omni.physx.supportui-107.3.26] startup +[7.113s] [ext: omni.physx.telemetry-107.3.26] startup +[7.125s] [ext: isaaclab-0.54.3] startup +[7.441s] [ext: isaaclab_contrib-0.0.2] startup +[7.442s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.445s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.450s] [ext: semantics.schema.property-2.0.1] startup +[7.454s] [ext: omni.physx.bundle-107.3.26] startup +[7.458s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.463s] [ext: isaaclab_assets-0.2.4] startup +[7.765s] [ext: isaaclab_tasks-0.11.14] startup +[7.930s] [ext: omni.kit.menu.common-2.0.1] startup +[7.933s] [ext: isaaclab_rl-0.5.0] startup +[7.935s] [ext: isaaclab_mimic-1.0.16] startup +[7.937s] [ext: isaaclab.python-2.3.2] startup +[7.940s] Simulation App Starting +2026-07-24T04:36:36Z [7,994ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T04:36:36Z [7,998ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T04:36:36Z [7,998ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T04:36:36Z [7,998ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T04:36:36Z [8,026ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[8.079s] app ready +2026-07-24T04:36:36Z [8,848ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T04:36:36Z [8,849ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T04:36:36Z [8,849ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T04:36:36Z [8,849ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[12.737s] 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=52 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=52 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_12-36-57.log +====================================================================================== + +12:36:57 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 52 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T04:36:57Z [29,701ms] [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 +2026-07-24T04:36:57Z [29,771ms] [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. +2026-07-24T04:36:57Z [29,786ms] [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. +2026-07-24T04:36:57Z [29,798ms] [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 : 0.352327 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T04:36:57Z [29,812ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +2026-07-24T04:36:57Z [29,818ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +2026-07-24T04:36:58Z [30,263ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +2026-07-24T04:36:58Z [30,263ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +2026-07-24T04:36:58Z [30,266ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +2026-07-24T04:36:58Z [30,266ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +2026-07-24T04:36:58Z [30,267ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +2026-07-24T04:36:58Z [30,267ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55921a01a390:World0.usd@ <0x55921a01b390>) + +[INFO]: Time taken for simulation start : 0.670118 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T04:37:06Z [38,181ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T04:37:11Z [43,748ms] [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 +2026-07-24T04:37:11Z [43,749ms] [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 +2026-07-24T04:37:11Z [43,749ms] [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 +2026-07-24T04:37:11Z [43,749ms] [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 +2026-07-24T04:37:17Z [49,521ms] [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=52 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07889200001955032, -0.19820599257946014, 0.7724999785423279], 'quat': [0.6037830114364624, -9.999999974752427e-07, -9.999999974752427e-07, 0.7971479892730713]}, 't1': {'center': [0.0896340012550354, -0.1855749934911728, 0.7724999785423279], 'quat': [0.38095200061798096, -9.999999974752427e-07, -9.999999974752427e-07, 0.9245949983596802]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07890000194311142, -0.19820000231266022, 0.7724999785423279] pick_tcp=[-0.08160000294446945, -0.18860000371932983, 0.7724999785423279] waypoints=32 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0256 tracking_error=0.0046 gripper_position=0.3852 secured=True +[collect][auto_swap_T] left_stage observed=[-0.10429999977350235, -0.19550000131130219, 0.7724999785423279] target=[-0.19859999418258667, -0.20720000565052032, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=left_stage waypoints=12 +[collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.0935 tracking_error=0.0042 gripper_position=0.1549 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19750000536441803, -0.20309999585151672, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.14980000257492065, -0.00039999998989515007, -0.01140000019222498] +[collect][auto_swap_T] right_pick label=t1 center=[0.08959999680519104, -0.18559999763965607, 0.7724999785423279] pick_tcp=[0.08250000327825546, -0.1784999966621399, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0030 tracking_error=0.0221 gripper_position=0.8000 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.0925000011920929, -0.18490000069141388, 0.7724999785423279] target=[0.2092999964952469, -0.17659999430179596, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1080 tracking_error=0.0144 gripper_position=0.3534 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.1988999992609024, -0.16660000383853912, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.1525000035762787, 0.010300000198185444, 0.00930000003427267] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=59.35 +[collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0001 z=0.0000 yaw_deg=34.33 +[collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0001 z=0.0001 yaw_deg=7.84 +[collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect][auto_swap_T] left_rotate step=46 xy=0.0001 z=0.0001 yaw_deg=0.12 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect][auto_swap_T] left_align step=60 xy=0.2310 z=0.0003 yaw_deg=0.00 +[collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1450 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0597 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect][auto_swap_T] left_align step=114 xy=0.0013 z=0.0002 yaw_deg=-0.51 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect][auto_swap_T] left_release step=116 xy=0.0022 z=0.0021 yaw_deg=0.41 +[collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect][auto_swap_T] left_release step=120 xy=0.0012 z=0.0040 yaw_deg=2.08 +[collect][auto_swap_T] left_feedback released center=[0.09030000120401382, -0.18449999392032623, 0.7724999785423279] quat=[0.397599995136261, -0.0, -0.0, 0.9175000190734863] +[collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.19949999451637268, -0.15489999949932098, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.1550000011920929, -0.0007999999797903001, 0.009499999694526196] +[collect][auto_swap_T] right_detour obstacle=[0.08959999680519104, -0.18559999763965607, 0.7724999785423279] waypoint=[0.07509999722242355, 0.007899999618530273, 0.7925000190734863] clearance=0.1940 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07890000194311142, -0.19820000231266022, 0.7724999785423279] waypoints=47 +[collect][auto_swap_T] phase=right_place waypoints=47 +[collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.17 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect][auto_swap_T] right_align step=2 xy=0.0009 z=0.0040 yaw_deg=0.03 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect][auto_swap_T] right_release step=3 xy=0.0002 z=0.0013 yaw_deg=0.06 +[collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect][auto_swap_T] right_feedback released center=[-0.07880000025033951, -0.19850000739097595, 0.7724999785423279] quat=[0.6029000282287598, 0.0, 0.0, 0.7978000044822693] +[collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.090295, -0.184541, 0.7725], 'quat': [0.397631, -0.0, -0.0, 0.917545]}, 't1': {'pos': [-0.078774, -0.19852, 0.7725], 'quat': [0.602912, -0.0, 1e-06, 0.797808]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_officialv32_seed52_official400.hdf5 +2026-07-24T04:38:39Z [131,713ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T04:38:39Z [131,713ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[132.101s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv40_seed16_official400.log b/yzr/swap_T/logs/swap_T_officialv40_seed16_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..fbd8010e2325408c38f459154d2e52c88e44f5d0 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv40_seed16_official400.log @@ -0,0 +1,896 @@ +[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_131753.log +[0.066s] [ext: omni.kit.async_engine-0.0.3] startup +[0.285s] [ext: omni.metrics.core-0.0.3] startup +[0.285s] [ext: omni.client.lib-1.1.0] startup +[0.300s] [ext: omni.blobkey-1.1.2] startup +[0.301s] [ext: omni.stats-1.0.1] startup +[0.301s] [ext: omni.datastore-0.0.0] startup +[0.308s] [ext: omni.client-1.3.0] startup +[0.314s] [ext: omni.ujitso.default-1.0.0] startup +[0.316s] [ext: omni.hsscclient-1.1.2] startup +[0.338s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.340s] [ext: omni.assets.plugins-0.0.0] startup +[0.341s] [ext: omni.gpu_foundation-0.0.0] startup +[0.348s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T05:17:54Z [325ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:17:54Z [325ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.350s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T05:17:54Z [438ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T05:17:54Z [449ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T05:17:54Z [449ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T05:17:54Z [449ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T05:17:54Z [500ms] [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. +2026-07-24T05:17:55Z [1,750ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:17:55Z [1,750ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:17:55Z [1,752ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:17:55Z [1,752ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:17:55Z [1,757ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:17:55Z [1,757ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:17:55Z [1,759ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:17:55Z [1,759ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:17:55Z [1,759ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:17:55Z [1,759ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:17:55Z [1,759ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:17:55Z [1,759ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 246543 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.815s] [ext: omni.materialx.libs-1.0.7] startup +[2.824s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.825s] [ext: omni.kit.test-2.0.1] startup +[2.875s] [ext: omni.kit.pipapi-0.0.0] startup +[2.876s] [ext: omni.usd.config-1.0.6] startup +[2.881s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.881s] [ext: omni.usd.libs-1.0.1] startup +[2.993s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.994s] [ext: omni.mdl-56.0.3] startup +[3.018s] [ext: omni.iray.libs-0.0.0] startup +[3.024s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.026s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.130s] [ext: omni.kit.telemetry-0.5.2] startup +[3.179s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T05:17:56Z [3,156ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:17:56Z [3,156ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.183s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T05:17:56Z [3,177ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:17:56Z [3,177ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:17:56Z [3,186ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:17:56Z [3,186ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.212s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.215s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T05:17:56Z [3,193ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:17:56Z [3,193ms] [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) +2026-07-24T05:17:56Z [3,195ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:17:56Z [3,195ms] [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) +2026-07-24T05:17:56Z [3,196ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:17:56Z [3,196ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.308s] [ext: omni.ui-2.27.1] startup +[3.319s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.320s] [ext: carb.audio-0.1.0] startup +[3.346s] [ext: omni.uiaudio-1.0.0] startup +[3.347s] [ext: omni.kit.uiapp-0.0.0] startup +[3.347s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.350s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.357s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.360s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.364s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.367s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.390s] [ext: omni.usd_resolver-1.0.0] startup +[3.395s] [ext: omni.usd.core-1.5.3] startup +[3.398s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.422s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.430s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.466s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.467s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.468s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.473s] [ext: omni.graph.exec-0.9.6] startup +[3.473s] [ext: omni.kit.actions.core-1.0.0] startup +[3.476s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.476s] [ext: omni.kit.exec.core-0.13.4] startup +[3.478s] [ext: omni.kit.commands-1.4.10] startup +[3.481s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.485s] [ext: omni.activity.core-1.0.3] startup +[3.487s] [ext: omni.resourcemonitor-107.0.1] startup +[3.489s] [ext: omni.timeline-1.0.14] startup +[3.490s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.493s] [ext: usdrt.scenegraph-7.6.1] startup +[3.533s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.534s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.543s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.549s] [ext: omni.usd-1.13.10] startup +[3.579s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.592s] [ext: omni.index.libs-380600.8087.0] startup +[3.592s] [ext: omni.volume-0.5.2] startup +[3.595s] [ext: omni.ujitso.client-0.0.0] startup +[3.595s] [ext: omni.index-1.0.1] startup +[3.596s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.597s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T05:17:57Z [3,594ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.637s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.639s] [ext: omni.kit.clipboard-1.0.5] startup +[3.640s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.643s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.650s] [ext: omni.kit.menu.core-1.1.2] startup +[3.650s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.653s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.655s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.655s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.656s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.657s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.661s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.662s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.670s] [ext: omni.ui.scene-1.11.5] startup +[3.675s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.675s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.689s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.696s] [ext: omni.kit.context_menu-1.8.6] startup +[3.698s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.704s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.708s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.710s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.711s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.711s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.715s] [ext: omni.kit.material.library-2.0.7] startup +[3.720s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.723s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.725s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.739s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.744s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.751s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.752s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.756s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.760s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.761s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.763s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.765s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.765s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.766s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.772s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.775s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.776s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.778s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.779s] [ext: omni.fabric.commands-1.1.6] startup +[3.782s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.783s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.784s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.785s] [ext: omni.debugdraw-0.1.4] startup +[3.789s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.800s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.801s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.801s] [ext: omni.kvdb-107.3.26] startup +[3.802s] [ext: omni.convexdecomposition-107.3.26] startup +[3.805s] [ext: omni.physx.foundation-107.3.26] startup +[3.807s] [ext: omni.localcache-107.3.26] startup +[3.809s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.809s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.810s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.810s] [ext: omni.usdphysics-107.3.26] startup +[3.813s] [ext: omni.kit.window.file-2.0.5] startup +[3.816s] [ext: omni.physx.cooking-107.3.26] startup +[3.819s] [ext: omni.physics-107.3.26] startup +[3.822s] [ext: omni.kit.window.property-1.12.1] startup +[3.825s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.836s] [ext: omni.physx-107.3.26] startup +[3.847s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.849s] [ext: omni.kit.property.usd-4.5.12] startup +[3.859s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.860s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T05:17:57Z [3,837ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.862s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.863s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.876s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.880s] [ext: omni.inspect-1.0.2] startup +[3.881s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.893s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.894s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.901s] [ext: omni.graph.core-2.184.5] startup +[3.904s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.906s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.933s] [ext: omni.physx.commands-107.3.26] startup +[3.937s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.938s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T05:17:57Z [3,919ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.944s] [ext: omni.physx.ui-107.3.26] startup +[3.977s] [ext: isaacsim.core.version-2.0.6] startup +[3.977s] [ext: omni.physics.tensors-107.3.26] startup +[3.982s] [ext: omni.warp.core-1.8.2] startup +[4.175s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.176s] [ext: isaacsim.storage.native-1.5.1] startup +[4.178s] [ext: omni.physx.tensors-107.3.26] startup +[4.424s] [ext: isaacsim.core.utils-3.5.1] startup +[4.433s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.884s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.885s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.886s] [ext: omni.kit.window.stage-2.6.1] startup +[5.891s] [ext: omni.kit.menu.create-2.0.1] startup +[5.892s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.898s] [ext: omni.kit.scripting-107.3.2] startup +[5.902s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.906s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.907s] [ext: omni.graph.tools-1.79.2] startup +[5.931s] [ext: omni.ui_query-1.1.8] startup +[5.932s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.932s] [ext: omni.graph-1.141.2] startup +[5.974s] [ext: omni.graph.action_core-1.1.7] startup +[5.976s] [ext: omni.kit.ui_test-1.3.7] startup +[5.979s] [ext: omni.kit.browser.core-2.3.13] startup +[5.984s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.989s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.993s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.998s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.008s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.016s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.030s] [ext: omni.graph.action-1.130.0] startup +[6.035s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.039s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.046s] [ext: isaacsim.gui.components-1.2.1] startup +[6.054s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.060s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.200s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.205s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.214s] [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( +[6.292s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T05:18:00Z [6,273ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.301s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.301s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.307s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.312s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.316s] [ext: omni.graph.image.core-0.6.1] startup +[6.317s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.318s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.321s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.323s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.326s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.327s] [ext: omni.graph.nodes-1.170.10] startup +[6.339s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.345s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.351s] [ext: omni.syntheticdata-0.6.13] startup +[6.385s] [ext: omni.videoencoding-0.1.2] startup +[6.392s] [ext: omni.warp-1.8.2] startup +[6.399s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.419s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.424s] [ext: isaacsim.core.prims-0.6.1] startup +[6.502s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.520s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T05:18:00Z [6,773ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T05:18:00Z [6,773ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T05:18:00Z [6,779ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.820s] [ext: isaacsim.core.api-4.8.0] startup +[6.873s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.962s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.005s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.032s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.043s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.086s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.117s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.147s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.162s] [ext: omni.sensors.net-1.0.0] startup +[7.178s] [ext: isaacsim.app.about-2.0.11] startup +[7.196s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.196s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.216s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.229s] [ext: omni.kit.property.audio-1.0.16] startup +[7.242s] [ext: omni.kit.property.camera-1.0.10] startup +[7.252s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.277s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.290s] [ext: omni.kit.property.light-1.0.12] startup +[7.363s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.367s] [ext: omni.kit.selection-0.1.6] startup +[7.371s] [ext: omni.kit.property.material-1.11.9] startup +[7.403s] [ext: omni.kit.property.transform-1.5.13] startup +[7.425s] [ext: omni.kit.property.render-1.2.1] startup +[7.434s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.439s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.473s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.489s] [ext: isaacsim.gui.property-1.1.3] startup +[7.494s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.506s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.546s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.571s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.595s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.610s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.660s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.718s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.760s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.777s] [ext: omni.kit.window.console-1.1.4] startup +[7.806s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.822s] [ext: omni.ocio-0.1.1] startup +[7.832s] [ext: omni.physx.demos-107.3.26] startup +[8.086s] [ext: omni.kit.property.physx-107.3.26] startup +[8.151s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.303s] [ext: omni.asset_validator.core-1.1.6] startup +[8.665s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.677s] [ext: omni.physx.vehicle-107.3.26] startup +[8.726s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.756s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.765s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.780s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.812s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.820s] [ext: omni.physx.camera-107.3.26] startup +[8.837s] [ext: omni.anim.curve.core-1.3.1] startup +[8.866s] [ext: omni.physx.cct-107.3.26] startup +[8.890s] [ext: omni.physx.graph-107.3.26] startup +[8.916s] [ext: omni.physx.supportui-107.3.26] startup +[8.961s] [ext: omni.physx.telemetry-107.3.26] startup +[8.969s] [ext: isaaclab-0.54.3] startup +[9.268s] [ext: isaaclab_contrib-0.0.2] startup +[9.270s] [ext: isaacsim.core.throttling-2.2.2] startup +[9.273s] [ext: omni.kit.ui.actions-1.0.5] startup +[9.280s] [ext: semantics.schema.property-2.0.1] startup +[9.285s] [ext: omni.physx.bundle-107.3.26] startup +[9.289s] [ext: isaacsim.sensors.camera-1.3.6] startup +[9.294s] [ext: isaaclab_assets-0.2.4] startup +[9.615s] [ext: isaaclab_tasks-0.11.14] startup +[9.790s] [ext: omni.kit.menu.common-2.0.1] startup +[9.792s] [ext: isaaclab_rl-0.5.0] startup +[9.796s] [ext: isaaclab_mimic-1.0.16] startup +[9.798s] [ext: isaaclab.python-2.3.2] startup +[9.801s] Simulation App Starting +2026-07-24T05:18:03Z [9,858ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T05:18:03Z [9,864ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T05:18:03Z [9,864ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T05:18:03Z [9,864ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T05:18:03Z [9,895ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.952s] app ready +2026-07-24T05:18:04Z [10,985ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T05:18:04Z [10,985ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T05:18:04Z [10,985ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T05:18:04Z [10,985ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[14.549s] 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=16 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=16 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_13-18-24.log +====================================================================================== + +13:18:24 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 16 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T05:18:25Z [31,468ms] [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 +2026-07-24T05:18:25Z [31,569ms] [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. +2026-07-24T05:18:25Z [31,586ms] [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. +2026-07-24T05:18:25Z [31,598ms] [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 : 0.450826 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T05:18:25Z [31,612ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +2026-07-24T05:18:25Z [31,618ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +2026-07-24T05:18:25Z [32,080ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +2026-07-24T05:18:25Z [32,081ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +2026-07-24T05:18:25Z [32,083ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +2026-07-24T05:18:25Z [32,084ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +2026-07-24T05:18:25Z [32,084ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +2026-07-24T05:18:25Z [32,084ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55914f9c8a10:World0.usd@ <0x55914f9c9a10>) + +[INFO]: Time taken for simulation start : 0.704369 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T05:18:34Z [40,952ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T05:18:35Z [41,350ms] [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 +2026-07-24T05:18:35Z [41,350ms] [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 +2026-07-24T05:18:35Z [41,350ms] [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 +2026-07-24T05:18:35Z [41,350ms] [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 +2026-07-24T05:18:46Z [52,508ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[collect][auto_swap_T] reset demo=0 seed=16 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07390300184488297, -0.15065200626850128, 0.7724999785423279], 'quat': [-0.5217739939689636, -9.999999974752427e-07, -0.0, 0.8530840277671814]}, 't1': {'center': [0.053456999361515045, -0.15992599725723267, 0.7724999785423279], 'quat': [0.8617740273475647, 9.999999974752427e-07, 0.0, 0.5072919726371765]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.0738999992609024, -0.15070000290870667, 0.7724999785423279] pick_tcp=[-0.07850000262260437, -0.15960000455379486, 0.7724999785423279] waypoints=32 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0093 tracking_error=0.0334 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.06620000302791595, -0.155799999833107, 0.7724999785423279] target=[-0.19359999895095825, -0.14190000295639038, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=left_stage waypoints=15 +[collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1409 tracking_error=0.0189 gripper_position=0.1599 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.20399999618530273, -0.12610000371932983, 0.7730000019073486] lifted=0.0005 ee_to_object_pos=[0.15160000324249268, -9.999999747378752e-05, 0.01679999940097332] +[collect][auto_swap_T] right_pick label=t1 center=[0.05350000038743019, -0.1598999947309494, 0.7724999785423279] pick_tcp=[0.05829999968409538, -0.15119999647140503, 0.7724999785423279] waypoints=33 +[collect][auto_swap_T] phase=right_pick waypoints=33 +[collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0222 tracking_error=0.0032 gripper_position=0.1852 secured=True +[collect][auto_swap_T] right_stage observed=[0.07540000230073929, -0.16290000081062317, 0.7732999920845032] target=[0.17309999465942383, -0.16859999299049377, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=right_stage waypoints=12 +[collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.0993 tracking_error=0.0014 gripper_position=0.1615 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.1745000034570694, -0.16869999468326569, 0.7732999920845032] lifted=0.0008 ee_to_object_pos=[0.14920000731945038, -0.0, -0.014800000004470348] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=151.49 +[collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect][auto_swap_T] left_transport step=20 xy=0.1585 z=0.0001 yaw_deg=-151.35 +[collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect][auto_swap_T] left_transport step=40 xy=0.0553 z=0.0002 yaw_deg=-151.81 +[collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect][auto_swap_T] left_transport step=56 xy=0.0049 z=0.0006 yaw_deg=-155.64 +[collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0005 z=0.0000 yaw_deg=-150.89 +[collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect][auto_swap_T] left_rotate step=80 xy=0.0006 z=0.0001 yaw_deg=-116.30 +[collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect][auto_swap_T] left_rotate step=100 xy=0.0005 z=0.0001 yaw_deg=-83.44 +[collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect][auto_swap_T] left_rotate step=120 xy=0.0006 z=0.0002 yaw_deg=-57.51 +[collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect][auto_swap_T] left_rotate step=140 xy=0.0010 z=0.0002 yaw_deg=-31.61 +[collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect][auto_swap_T] left_rotate step=160 xy=0.0201 z=0.0001 yaw_deg=-10.56 +[collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect][auto_swap_T] left_rotate step=170 xy=0.0281 z=0.0004 yaw_deg=-0.28 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect][auto_swap_T] left_align step=180 xy=0.0266 z=0.0011 yaw_deg=-0.73 +[collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect][auto_swap_T] left_align step=200 xy=0.0137 z=0.0012 yaw_deg=-0.49 +[collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect][auto_swap_T] left_align step=214 xy=0.0038 z=0.0007 yaw_deg=-0.49 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect][auto_swap_T] left_release step=215 xy=0.0034 z=0.0007 yaw_deg=-0.45 +[collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect][auto_swap_T] left_release step=218 xy=0.0021 z=0.0040 yaw_deg=-0.40 +[collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect][auto_swap_T] left_release step=220 xy=0.0021 z=0.0040 yaw_deg=-0.40 +[collect][auto_swap_T] left_feedback released center=[0.05260000005364418, -0.15800000727176666, 0.7724999785423279] quat=[0.8600000143051147, 0.0, 0.0, 0.5102999806404114] +[collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.2004999965429306, -0.22789999842643738, 0.7734000086784363] lifted=0.0009 ee_to_object_pos=[0.1509000062942505, -0.0, -0.015200000256299973] +[collect][auto_swap_T] right_detour obstacle=[0.05350000038743019, -0.1598999947309494, 0.7724999785423279] waypoint=[0.0364999994635582, -0.39250001311302185, 0.79339998960495] clearance=0.2332 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.0738999992609024, -0.15070000290870667, 0.7724999785423279] waypoints=48 +[collect][auto_swap_T] phase=right_place waypoints=48 +[collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.21 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect][auto_swap_T] right_align step=3 xy=0.0009 z=0.0011 yaw_deg=-0.12 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect][auto_swap_T] right_release step=4 xy=0.0003 z=0.0003 yaw_deg=-0.04 +[collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect][auto_swap_T] right_feedback released center=[-0.07400000095367432, -0.1509999930858612, 0.7724999785423279] quat=[-0.5224000215530396, 0.0, -0.0, 0.8526999950408936] +[collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [0.01140000019222498, 0.03269999846816063, -0.01209999993443489], 'rot_deg': 75.47, 'real': [-0.2881999909877777, -0.319599986076355, 0.9093999862670898, 0.6669999957084656, 0.27219998836517334, 0.5264999866485596, 0.4514999985694885], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.15850000083446503, 0.2337999939918518, 0.14640000462532043], 'rot_deg': 79.24, 'real': [0.14190000295639038, -0.1185000017285347, 1.0678999423980713, 0.3068000078201294, -0.5105000138282776, -0.18170000612735748, 0.7825000286102295], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=6 +[collect] demo=0 step=389/400 +env0 step: 389 / 400 [collect] demo=0 step=390/400 +env0 step: 390 / 400 [collect] demo=0 step=391/400 +env0 step: 391 / 400 [collect] demo=0 step=392/400 +env0 step: 392 / 400 [collect] demo=0 step=393/400 +env0 step: 393 / 400 [collect] demo=0 step=394/400 +env0 step: 394 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=3 +[collect] demo=0 step=395/400 +env0 step: 395 / 400 [collect] demo=0 step=396/400 +env0 step: 396 / 400 [collect] demo=0 step=397/400 +env0 step: 397 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [0.00019999999494757503, 0.000699999975040555, -9.999999747378752e-05], 'rot_deg': 6.32, 'real': [-0.2992999851703644, -0.3515999913215637, 0.9214000105857849, 0.7081000208854675, 0.03590000048279762, 0.04170000180602074, 0.7039999961853027], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.03139999881386757, 0.14270000159740448, 0.16030000150203705], 'rot_deg': 25.66, 'real': [0.26910001039505005, -0.20960000157356262, 1.0817999839782715, 0.6341000199317932, -0.19979999959468842, -0.05739999935030937, 0.7447999715805054], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=2 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=398/400 +env0 step: 398 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=399/400 +env0 step: 399 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.052634, -0.157954, 0.7725], 'quat': [0.860014, 1e-06, 0.0, 0.510271]}, 't1': {'pos': [-0.073963, -0.151002, 0.7725], 'quat': [-0.52238, 1e-06, -1e-06, 0.852713]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_officialv40_seed16_official400.hdf5 +2026-07-24T05:20:41Z [167,662ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:20:41Z [167,662ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[168.053s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv45_seed54_official400.log b/yzr/swap_T/logs/swap_T_officialv45_seed54_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..ec2971ff7c3ee61d0205b5561a4ccee3ca03ff2c --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv45_seed54_official400.log @@ -0,0 +1,889 @@ +[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_134251.log +[0.061s] [ext: omni.kit.async_engine-0.0.3] startup +[0.202s] [ext: omni.metrics.core-0.0.3] startup +[0.202s] [ext: omni.client.lib-1.1.0] startup +[0.218s] [ext: omni.blobkey-1.1.2] startup +[0.218s] [ext: omni.stats-1.0.1] startup +[0.219s] [ext: omni.datastore-0.0.0] startup +[0.225s] [ext: omni.client-1.3.0] startup +[0.231s] [ext: omni.ujitso.default-1.0.0] startup +[0.232s] [ext: omni.hsscclient-1.1.2] startup +[0.255s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.257s] [ext: omni.assets.plugins-0.0.0] startup +[0.258s] [ext: omni.gpu_foundation-0.0.0] startup +[0.265s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T05:42:51Z [241ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:42:51Z [241ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.267s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T05:42:51Z [325ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T05:42:51Z [331ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T05:42:51Z [331ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T05:42:51Z [331ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T05:42:51Z [387ms] [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. +2026-07-24T05:42:52Z [1,297ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:42:52Z [1,297ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:42:52Z [1,298ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:42:52Z [1,298ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:42:52Z [1,299ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:42:52Z [1,299ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:42:52Z [1,299ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:42:52Z [1,299ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:42:52Z [1,299ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:42:52Z [1,299ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:42:52Z [1,299ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:42:52Z [1,299ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 228531 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.223s] [ext: omni.materialx.libs-1.0.7] startup +[2.237s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.239s] [ext: omni.kit.test-2.0.1] startup +[2.288s] [ext: omni.kit.pipapi-0.0.0] startup +[2.289s] [ext: omni.usd.config-1.0.6] startup +[2.292s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.293s] [ext: omni.usd.libs-1.0.1] startup +[2.409s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.410s] [ext: omni.mdl-56.0.3] startup +[2.435s] [ext: omni.iray.libs-0.0.0] startup +[2.442s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.444s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.547s] [ext: omni.kit.telemetry-0.5.2] startup +[2.602s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T05:42:54Z [2,578ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:42:54Z [2,578ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.606s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T05:42:54Z [3,294ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:42:54Z [3,294ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:42:55Z [3,431ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:42:55Z [3,431ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.460s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.463s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T05:42:55Z [3,444ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:42:55Z [3,444ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:42:55Z [3,446ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:42:55Z [3,446ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:42:55Z [3,448ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:42:55Z [3,448ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.612s] [ext: omni.ui-2.27.1] startup +[3.637s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.638s] [ext: carb.audio-0.1.0] startup +[3.673s] [ext: omni.uiaudio-1.0.0] startup +[3.674s] [ext: omni.kit.uiapp-0.0.0] startup +[3.674s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.678s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.687s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.691s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.695s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.699s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.722s] [ext: omni.usd_resolver-1.0.0] startup +[3.727s] [ext: omni.usd.core-1.5.3] startup +[3.730s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.754s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.763s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.800s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.801s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.802s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.809s] [ext: omni.graph.exec-0.9.6] startup +[3.809s] [ext: omni.kit.actions.core-1.0.0] startup +[3.812s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.813s] [ext: omni.kit.exec.core-0.13.4] startup +[3.815s] [ext: omni.kit.commands-1.4.10] startup +[3.820s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.825s] [ext: omni.activity.core-1.0.3] startup +[3.827s] [ext: omni.resourcemonitor-107.0.1] startup +[3.830s] [ext: omni.timeline-1.0.14] startup +[3.853s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.856s] [ext: usdrt.scenegraph-7.6.1] startup +[3.917s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.919s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.952s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.967s] [ext: omni.usd-1.13.10] startup +[4.001s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.015s] [ext: omni.index.libs-380600.8087.0] startup +[4.015s] [ext: omni.volume-0.5.2] startup +[4.018s] [ext: omni.ujitso.client-0.0.0] startup +[4.019s] [ext: omni.index-1.0.1] startup +[4.020s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.021s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T05:42:55Z [4,018ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.064s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.066s] [ext: omni.kit.clipboard-1.0.5] startup +[4.067s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.070s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.077s] [ext: omni.kit.menu.core-1.1.2] startup +[4.078s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.081s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.082s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.083s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.085s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.085s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.090s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.091s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.101s] [ext: omni.ui.scene-1.11.5] startup +[4.106s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.106s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.126s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.134s] [ext: omni.kit.context_menu-1.8.6] startup +[4.135s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.141s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.146s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.148s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.149s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.149s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.154s] [ext: omni.kit.material.library-2.0.7] startup +[4.159s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.162s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.164s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.181s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.185s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.191s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.191s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.195s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.199s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.200s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.202s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.204s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.205s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.206s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.212s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.215s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.217s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.220s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.221s] [ext: omni.fabric.commands-1.1.6] startup +[4.224s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.225s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.226s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.228s] [ext: omni.debugdraw-0.1.4] startup +[4.232s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.243s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.244s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.244s] [ext: omni.kvdb-107.3.26] startup +[4.246s] [ext: omni.convexdecomposition-107.3.26] startup +[4.249s] [ext: omni.physx.foundation-107.3.26] startup +[4.251s] [ext: omni.localcache-107.3.26] startup +[4.252s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.253s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.253s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.254s] [ext: omni.usdphysics-107.3.26] startup +[4.257s] [ext: omni.kit.window.file-2.0.5] startup +[4.260s] [ext: omni.physx.cooking-107.3.26] startup +[4.264s] [ext: omni.physics-107.3.26] startup +[4.267s] [ext: omni.kit.window.property-1.12.1] startup +[4.270s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.281s] [ext: omni.physx-107.3.26] startup +[4.292s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.294s] [ext: omni.kit.property.usd-4.5.12] startup +[4.306s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.307s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T05:42:55Z [4,283ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[4.309s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.310s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.322s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.327s] [ext: omni.inspect-1.0.2] startup +[4.328s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.339s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.341s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.349s] [ext: omni.graph.core-2.184.5] startup +[4.352s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.354s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.382s] [ext: omni.physx.commands-107.3.26] startup +[4.388s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.389s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T05:42:55Z [4,369ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.395s] [ext: omni.physx.ui-107.3.26] startup +[4.429s] [ext: isaacsim.core.version-2.0.6] startup +[4.429s] [ext: omni.physics.tensors-107.3.26] startup +[4.434s] [ext: omni.warp.core-1.8.2] startup +[4.631s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.633s] [ext: isaacsim.storage.native-1.5.1] startup +[4.636s] [ext: omni.physx.tensors-107.3.26] startup +[5.030s] [ext: isaacsim.core.utils-3.5.1] startup +[5.043s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.645s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.647s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.649s] [ext: omni.kit.window.stage-2.6.1] startup +[6.654s] [ext: omni.kit.menu.create-2.0.1] startup +[6.656s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.662s] [ext: omni.kit.scripting-107.3.2] startup +[6.666s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.670s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.671s] [ext: omni.graph.tools-1.79.2] startup +[6.697s] [ext: omni.ui_query-1.1.8] startup +[6.698s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.698s] [ext: omni.graph-1.141.2] startup +[6.741s] [ext: omni.graph.action_core-1.1.7] startup +[6.743s] [ext: omni.kit.ui_test-1.3.7] startup +[6.748s] [ext: omni.kit.browser.core-2.3.13] startup +[6.753s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.757s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.765s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.767s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.781s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.786s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.803s] [ext: omni.graph.action-1.130.0] startup +[6.808s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.812s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.820s] [ext: isaacsim.gui.components-1.2.1] startup +[6.832s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.845s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.990s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.997s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.006s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.096s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T05:42:58Z [7,080ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.108s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.108s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.113s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.121s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.123s] [ext: omni.graph.image.core-0.6.1] startup +[7.125s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.126s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.128s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.133s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.136s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.138s] [ext: omni.graph.nodes-1.170.10] startup +[7.150s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.156s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.159s] [ext: omni.syntheticdata-0.6.13] startup +[7.191s] [ext: omni.videoencoding-0.1.2] startup +[7.197s] [ext: omni.warp-1.8.2] startup +[7.204s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.235s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.247s] [ext: isaacsim.core.prims-0.6.1] startup +[7.314s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.325s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T05:42:59Z [7,496ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T05:42:59Z [7,496ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T05:42:59Z [7,498ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.528s] [ext: isaacsim.core.api-4.8.0] startup +[7.622s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.784s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.817s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.843s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.859s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.894s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.908s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.928s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.951s] [ext: omni.sensors.net-1.0.0] startup +[7.970s] [ext: isaacsim.app.about-2.0.11] startup +[7.987s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.990s] [ext: omni.sensors.nv.ids-2.0.0] startup +[8.012s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[8.025s] [ext: omni.kit.property.audio-1.0.16] startup +[8.037s] [ext: omni.kit.property.camera-1.0.10] startup +[8.089s] [ext: omni.kit.property.geometry-2.0.4] startup +[8.102s] [ext: omni.hydra.scene_api-0.1.2] startup +[8.119s] [ext: omni.kit.property.light-1.0.12] startup +[8.173s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.178s] [ext: omni.kit.selection-0.1.6] startup +[8.183s] [ext: omni.kit.property.material-1.11.9] startup +[8.220s] [ext: omni.kit.property.transform-1.5.13] startup +[8.240s] [ext: omni.kit.property.render-1.2.1] startup +[8.245s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.255s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.291s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.308s] [ext: isaacsim.gui.property-1.1.3] startup +[8.326s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.344s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.392s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.420s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.508s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.595s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.849s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.900s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.956s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.212s] [ext: omni.kit.window.console-1.1.4] startup +[9.265s] [ext: omni.rtx.window.settings-0.6.19] startup +[9.288s] [ext: omni.ocio-0.1.1] startup +[9.296s] [ext: omni.physx.demos-107.3.26] startup +[9.419s] [ext: omni.kit.property.physx-107.3.26] startup +[9.487s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.527s] [ext: omni.asset_validator.core-1.1.6] startup +[9.650s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.660s] [ext: omni.physx.vehicle-107.3.26] startup +[9.692s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.711s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.717s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.728s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.743s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.752s] [ext: omni.physx.camera-107.3.26] startup +[9.774s] [ext: omni.anim.curve.core-1.3.1] startup +[9.795s] [ext: omni.physx.cct-107.3.26] startup +[9.821s] [ext: omni.physx.graph-107.3.26] startup +[9.864s] [ext: omni.physx.supportui-107.3.26] startup +[9.915s] [ext: omni.physx.telemetry-107.3.26] startup +[9.926s] [ext: isaaclab-0.54.3] startup +[10.292s] [ext: isaaclab_contrib-0.0.2] startup +[10.295s] [ext: isaacsim.core.throttling-2.2.2] startup +[10.298s] [ext: omni.kit.ui.actions-1.0.5] startup +[10.303s] [ext: semantics.schema.property-2.0.1] startup +[10.307s] [ext: omni.physx.bundle-107.3.26] startup +[10.311s] [ext: isaacsim.sensors.camera-1.3.6] startup +[10.316s] [ext: isaaclab_assets-0.2.4] startup +[10.621s] [ext: isaaclab_tasks-0.11.14] startup +[10.788s] [ext: omni.kit.menu.common-2.0.1] startup +[10.791s] [ext: isaaclab_rl-0.5.0] startup +[10.793s] [ext: isaaclab_mimic-1.0.16] startup +[10.795s] [ext: isaaclab.python-2.3.2] startup +[10.799s] Simulation App Starting +2026-07-24T05:43:02Z [10,881ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T05:43:02Z [10,886ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T05:43:02Z [10,886ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T05:43:02Z [10,886ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T05:43:02Z [10,917ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[10.973s] app ready +2026-07-24T05:43:03Z [11,855ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T05:43:03Z [11,855ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T05:43:03Z [11,855ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T05:43:03Z [11,855ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[15.559s] 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=54 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=54 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_13-43-25.log +====================================================================================== + +13:43:25 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 54 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T05:43:25Z [33,977ms] [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 +2026-07-24T05:43:25Z [34,085ms] [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. +2026-07-24T05:43:25Z [34,101ms] [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. +2026-07-24T05:43:25Z [34,116ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.471432 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T05:43:25Z [34,130ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +2026-07-24T05:43:25Z [34,137ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +2026-07-24T05:43:26Z [34,630ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +2026-07-24T05:43:26Z [34,630ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +2026-07-24T05:43:26Z [34,634ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +2026-07-24T05:43:26Z [34,635ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +2026-07-24T05:43:26Z [34,635ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +2026-07-24T05:43:26Z [34,635ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559d09b9b400:World0.usd@ <0x559d09b9c400>) + +[INFO]: Time taken for simulation start : 0.745449 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T05:43:37Z [46,205ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T05:43:44Z [52,519ms] [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 +2026-07-24T05:43:44Z [52,519ms] [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 +2026-07-24T05:43:44Z [52,519ms] [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 +2026-07-24T05:43:44Z [52,519ms] [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 +2026-07-24T05:43:50Z [58,671ms] [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=54 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.055962998420000076, -0.19107699394226074, 0.7724999785423279], 'quat': [0.19130100309848785, 0.0, 0.0, 0.981531023979187]}, 't1': {'center': [0.08734100311994553, -0.1976879984140396, 0.7724999785423279], 'quat': [0.8827419877052307, -9.999999974752427e-07, 0.0, 0.46985799074172974]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.0560000017285347, -0.19110000133514404, 0.7724999785423279] pick_tcp=[-0.06520000100135803, -0.18729999661445618, 0.7724999785423279] waypoints=32 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0007 tracking_error=0.0245 gripper_position=0.4696 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.05649999901652336, -0.1914999932050705, 0.7724999785423279] target=[-0.17579999566078186, -0.18549999594688416, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1163 tracking_error=0.0249 gripper_position=0.1616 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.1712999939918518, -0.210099995136261, 0.7738999724388123] lifted=0.0014 ee_to_object_pos=[0.15049999952316284, -0.0026000000070780516, -0.04280000180006027] +[collect][auto_swap_T] right_pick label=t1 center=[0.08730000257492065, -0.19769999384880066, 0.7724999785423279] pick_tcp=[0.09290000051259995, -0.18940000236034393, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0227 tracking_error=0.0050 gripper_position=0.1652 secured=True +[collect][auto_swap_T] right_stage observed=[0.10939999669790268, -0.2029000073671341, 0.7734000086784363] target=[0.20720000565052032, -0.20319999754428864, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=right_stage waypoints=12 +[collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.0981 tracking_error=0.0003 gripper_position=0.1615 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.20749999582767487, -0.20329999923706055, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.14910000562667847, -0.0, -0.01549999974668026] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=74.59 +[collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0012 z=0.0000 yaw_deg=-49.97 +[collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect][auto_swap_T] left_rotate step=40 xy=0.0038 z=0.0000 yaw_deg=-24.07 +[collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect][auto_swap_T] left_rotate step=58 xy=0.0071 z=0.0000 yaw_deg=-0.75 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect][auto_swap_T] left_align step=60 xy=0.2626 z=0.0017 yaw_deg=1.77 +[collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect][auto_swap_T] left_align step=80 xy=0.1753 z=0.0001 yaw_deg=-0.01 +[collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect][auto_swap_T] left_align step=100 xy=0.0901 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect][auto_swap_T] left_align step=120 xy=0.0461 z=0.0001 yaw_deg=-0.38 +[collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect][auto_swap_T] left_align step=140 xy=0.0243 z=0.0008 yaw_deg=-0.38 +[collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect][auto_swap_T] left_tracking_stall xy=0.0224 z=0.0006 yaw_deg=0.28 live_table_attempt=1 +[collect][auto_swap_T] left_mid_regrasp object=[0.06499999761581421, -0.19660000503063202, 0.7771000266075134] waypoints=27 +[collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect][auto_swap_T] captured_left_grasp object_center=[0.06780000030994415, -0.20430000126361847, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.14980000257492065, -0.010700000450015068, -0.011800000444054604] +[collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0000 z=0.0000 yaw_deg=5.31 +[collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect][auto_swap_T] left_rotate step=24 xy=0.0000 z=0.0000 yaw_deg=0.16 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect][auto_swap_T] left_align step=29 xy=0.0024 z=0.0004 yaw_deg=-0.04 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect][auto_swap_T] left_release step=30 xy=0.0004 z=0.0004 yaw_deg=-0.02 +[collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect][auto_swap_T] left_feedback released center=[0.08760000020265579, -0.19689999520778656, 0.7724999785423279] quat=[0.8834999799728394, -0.0, -0.0, 0.4684000015258789] +[collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect][auto_swap_T] right_grasp_relation_check error=0.0018 live=[0.14970000088214874, -0.00019999999494757503, -0.01720000058412552] expected=[0.14910000562667847, -0.0, -0.01549999974668026] +[collect][auto_swap_T] captured_right_grasp object_center=[0.2563000023365021, -0.2134000062942505, 0.7730000019073486] lifted=0.0005 ee_to_object_pos=[0.14970000088214874, -0.00019999999494757503, -0.01720000058412552] +[collect][auto_swap_T] right_detour obstacle=[0.08730000257492065, -0.19769999384880066, 0.7724999785423279] waypoint=[0.07909999787807465, -0.3767000138759613, 0.7929999828338623] clearance=0.1792 +[collect][auto_swap_T] concurrent_left_home right_waypoints=41 left_home_waypoints=14 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.0560000017285347, -0.19110000133514404, 0.7724999785423279] waypoints=41 +[collect][auto_swap_T] phase=right_place waypoints=41 +[collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.11 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect][auto_swap_T] right_align step=2 xy=0.0019 z=0.0040 yaw_deg=0.05 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect][auto_swap_T] right_release step=3 xy=0.0002 z=0.0019 yaw_deg=0.00 +[collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect][auto_swap_T] right_feedback released center=[-0.05640000104904175, -0.19110000133514404, 0.7724999785423279] quat=[0.1914999932050705, -0.0, -0.0, 0.9815000295639038] +[collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0032999999821186066, 0.4066999852657318], 'rot_deg': 37.14, 'real': [-0.2996000051498413, -0.3490000069141388, 1.3281999826431274, 0.6700000166893005, 0.22529999911785126, -0.22509999573230743, 0.6705999970436096], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.19140000641345978, 0.21950000524520874, 0.10660000145435333], 'rot_deg': 58.11, 'real': [0.10899999737739563, -0.13279999792575836, 1.0281000137329102, 0.4959999918937683, -0.4140999913215637, 0.1860000044107437, 0.7401999831199646], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=17 +[collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=3 +[collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-0.0, -0.01119999960064888, 0.050999999046325684], 'rot_deg': 7.82, 'real': [-0.2996000051498413, -0.3634999990463257, 0.9725000262260437, 0.7050999999046326, 0.04830000177025795, -0.04820000007748604, 0.7057999968528748], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.05270000174641609, 0.14959999918937683, 0.12870000302791595], 'rot_deg': 22.25, 'real': [0.24770000576972961, -0.20270000398159027, 1.0501999855041504, 0.6484000086784363, -0.14720000326633453, 0.10700000077486038, 0.739300012588501], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=2 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=2 +[collect] demo=0 step=389/400 +env0 step: 389 / 400 [collect] demo=0 step=390/400 +env0 step: 390 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=391/400 +env0 step: 391 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.087596, -0.196852, 0.7725], 'quat': [0.883526, -2e-06, -0.0, 0.468383]}, 't1': {'pos': [-0.056377, -0.191129, 0.7725], 'quat': [0.191514, -0.0, -1e-06, 0.98149]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_officialv45_seed54_official400.hdf5 +2026-07-24T05:45:59Z [188,083ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:45:59Z [188,083ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[188.501s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_officialv65_seed39_official400.log b/yzr/swap_T/logs/swap_T_officialv65_seed39_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..9f98bb98d5ef31ad9db96ccbbda43f85a027c768 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_officialv65_seed39_official400.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b4bafcc93bd27adbec21393c4a200aeda85c2eb44fb2817b7f332413b0fb79b +size 8835368 diff --git a/yzr/swap_T/logs/swap_T_overheadhomev18_seed12_diag600.log b/yzr/swap_T/logs/swap_T_overheadhomev18_seed12_diag600.log new file mode 100644 index 0000000000000000000000000000000000000000..91dfb8248e97c09d47cd23e3559d46a813ced119 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_overheadhomev18_seed12_diag600.log @@ -0,0 +1,880 @@ +[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_061201.log +[0.071s] [ext: omni.kit.async_engine-0.0.3] startup +[0.273s] [ext: omni.metrics.core-0.0.3] startup +[0.273s] [ext: omni.client.lib-1.1.0] startup +[0.289s] [ext: omni.blobkey-1.1.2] startup +[0.289s] [ext: omni.stats-1.0.1] startup +[0.290s] [ext: omni.datastore-0.0.0] startup +[0.296s] [ext: omni.client-1.3.0] startup +[0.302s] [ext: omni.ujitso.default-1.0.0] startup +[0.304s] [ext: omni.hsscclient-1.1.2] startup +[0.327s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.330s] [ext: omni.assets.plugins-0.0.0] startup +[0.331s] [ext: omni.gpu_foundation-0.0.0] startup +[0.338s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T22:12:01Z [312ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:12:01Z [312ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.340s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T22:12:02Z [418ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T22:12:02Z [425ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T22:12:02Z [425ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T22:12:02Z [425ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T22:12:02Z [476ms] [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. +2026-07-23T22:12:03Z [2,298ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:12:03Z [2,298ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:12:03Z [2,300ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:12:03Z [2,300ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:12:03Z [2,302ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:12:03Z [2,302ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:12:03Z [2,303ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:12:03Z [2,303ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:12:03Z [2,303ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:12:03Z [2,303ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:12:03Z [2,303ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:12:03Z [2,303ms] [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: 18247 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[4.382s] [ext: omni.materialx.libs-1.0.7] startup +[4.391s] [ext: omni.kit.loop-isaac-1.3.7] startup +[4.392s] [ext: omni.kit.test-2.0.1] startup +[4.438s] [ext: omni.kit.pipapi-0.0.0] startup +[4.439s] [ext: omni.usd.config-1.0.6] startup +[4.447s] [ext: omni.gpucompute.plugins-0.0.0] startup +[4.447s] [ext: omni.usd.libs-1.0.1] startup +[4.558s] [ext: omni.kit.pip_archive-0.0.0] startup +[4.558s] [ext: omni.mdl-56.0.3] startup +[4.581s] [ext: omni.iray.libs-0.0.0] startup +[4.588s] [ext: omni.mdl.neuraylib-0.2.12] startup +[4.590s] [ext: omni.kit.usd.mdl-1.1.5] startup +[4.697s] [ext: omni.kit.telemetry-0.5.2] startup +[4.746s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T22:12:06Z [4,721ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:12:06Z [4,721ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.750s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T22:12:06Z [4,752ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:12:06Z [4,752ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T22:12:06Z [4,765ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:12:06Z [4,765ms] [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) +[4.794s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.797s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T22:12:06Z [4,776ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:12:06Z [4,776ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T22:12:06Z [4,778ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:12:06Z [4,778ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T22:12:06Z [4,779ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:12:06Z [4,779ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.922s] [ext: omni.ui-2.27.1] startup +[4.934s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.935s] [ext: carb.audio-0.1.0] startup +[4.966s] [ext: omni.uiaudio-1.0.0] startup +[4.967s] [ext: omni.kit.uiapp-0.0.0] startup +[4.967s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.970s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.983s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.987s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.992s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.997s] [ext: omni.usd.schema.anim-0.0.0] startup +[5.024s] [ext: omni.usd_resolver-1.0.0] startup +[5.029s] [ext: omni.usd.core-1.5.3] startup +[5.032s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[5.059s] [ext: isaacsim.robot.schema-3.6.0] startup +[5.068s] [ext: omni.usd.schema.physx-107.3.26] startup +[5.105s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[5.106s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[5.106s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[5.112s] [ext: omni.graph.exec-0.9.6] startup +[5.112s] [ext: omni.kit.actions.core-1.0.0] startup +[5.115s] [ext: omni.kit.usd_undo-0.1.8] startup +[5.115s] [ext: omni.kit.exec.core-0.13.4] startup +[5.117s] [ext: omni.kit.commands-1.4.10] startup +[5.121s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[5.125s] [ext: omni.activity.core-1.0.3] startup +[5.126s] [ext: omni.resourcemonitor-107.0.1] startup +[5.129s] [ext: omni.timeline-1.0.14] startup +[5.132s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[5.134s] [ext: usdrt.scenegraph-7.6.1] startup +[5.177s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[5.179s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[5.187s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[5.193s] [ext: omni.usd-1.13.10] startup +[5.224s] [ext: omni.kit.asset_converter-5.0.17] startup +[5.238s] [ext: omni.index.libs-380600.8087.0] startup +[5.238s] [ext: omni.volume-0.5.2] startup +[5.242s] [ext: omni.ujitso.client-0.0.0] startup +[5.242s] [ext: omni.index-1.0.1] startup +[5.243s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[5.244s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T22:12:06Z [5,239ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[5.286s] [ext: omni.kit.notification_manager-1.0.10] startup +[5.288s] [ext: omni.kit.clipboard-1.0.5] startup +[5.289s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[5.293s] [ext: omni.kit.raycast.query-1.1.0] startup +[5.299s] [ext: omni.kit.menu.core-1.1.2] startup +[5.300s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[5.303s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[5.304s] [ext: omni.kit.widget.path_field-2.0.11] startup +[5.305s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[5.306s] [ext: omni.kit.widget.options_button-1.0.3] startup +[5.307s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[5.311s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[5.312s] [ext: omni.kit.usd.layers-2.2.11] startup +[5.321s] [ext: omni.ui.scene-1.11.5] startup +[5.326s] [ext: omni.kit.viewport.registry-104.0.6] startup +[5.327s] [ext: omni.kit.window.filepicker-2.13.4] startup +[5.342s] [ext: omni.kit.menu.utils-2.0.5] startup +[5.352s] [ext: omni.kit.context_menu-1.8.6] startup +[5.354s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[5.360s] [ext: omni.kit.hydra_texture-1.4.6] startup +[5.364s] [ext: omni.kit.window.file_importer-1.1.18] startup +[5.367s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[5.368s] [ext: omni.kit.window.drop_support-1.0.5] startup +[5.368s] [ext: omni.kit.widget.viewport-107.1.3] startup +[5.372s] [ext: omni.kit.material.library-2.0.7] startup +[5.382s] [ext: omni.hydra.engine.stats-1.0.3] startup +[5.390s] [ext: omni.kit.widget.settings-1.2.6] startup +[5.393s] [ext: omni.kit.viewport.window-107.2.0] startup +[5.411s] [ext: omni.kit.window.preferences-1.8.0] startup +[5.416s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[5.421s] [ext: omni.kit.viewport.utility-1.1.2] startup +[5.422s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[5.427s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[5.433s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[5.434s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[5.436s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[5.438s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[5.439s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[5.440s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[5.447s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[5.450s] [ext: omni.kit.widget.filter-1.1.4] startup +[5.450s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[5.452s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[5.453s] [ext: omni.fabric.commands-1.1.6] startup +[5.456s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[5.458s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[5.459s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[5.460s] [ext: omni.debugdraw-0.1.4] startup +[5.465s] [ext: omni.kit.widget.stage-3.1.4] startup +[5.479s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[5.480s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[5.480s] [ext: omni.kvdb-107.3.26] startup +[5.481s] [ext: omni.convexdecomposition-107.3.26] startup +[5.485s] [ext: omni.physx.foundation-107.3.26] startup +[5.487s] [ext: omni.localcache-107.3.26] startup +[5.488s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[5.489s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[5.489s] [ext: omni.kit.stage_template.core-1.1.22] startup +[5.490s] [ext: omni.usdphysics-107.3.26] startup +[5.492s] [ext: omni.kit.window.file-2.0.5] startup +[5.495s] [ext: omni.physx.cooking-107.3.26] startup +[5.499s] [ext: omni.physics-107.3.26] startup +[5.502s] [ext: omni.kit.window.property-1.12.1] startup +[5.506s] [ext: omni.kit.window.content_browser-3.1.3] startup +[5.520s] [ext: omni.physx-107.3.26] startup +[5.535s] [ext: omni.physics.stageupdate-107.3.26] startup +[5.537s] [ext: omni.kit.property.usd-4.5.12] startup +[5.553s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[5.554s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T22:12:07Z [5,531ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[5.558s] [ext: omni.kit.widget.prompt-1.0.7] startup +[5.559s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[5.573s] [ext: omni.kit.viewport.actions-107.0.2] startup +[5.578s] [ext: omni.inspect-1.0.2] startup +[5.579s] [ext: omni.kit.widget.layers-1.8.6] startup +[5.594s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[5.596s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[5.605s] [ext: omni.graph.core-2.184.5] startup +[5.608s] [ext: omni.kit.numpy.common-0.1.3] startup +[5.610s] [ext: omni.usdphysics.ui-107.3.26] startup +[5.641s] [ext: omni.physx.commands-107.3.26] startup +[5.645s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[5.646s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T22:12:07Z [5,626ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[5.653s] [ext: omni.physx.ui-107.3.26] startup +[5.691s] [ext: isaacsim.core.version-2.0.6] startup +[5.692s] [ext: omni.physics.tensors-107.3.26] startup +[5.697s] [ext: omni.warp.core-1.8.2] startup +[5.909s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.912s] [ext: isaacsim.storage.native-1.5.1] startup +[5.914s] [ext: omni.physx.tensors-107.3.26] startup +[5.920s] [ext: isaacsim.core.utils-3.5.1] startup +[5.923s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[7.366s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[7.368s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[7.370s] [ext: omni.kit.window.stage-2.6.1] startup +[7.374s] [ext: omni.kit.menu.create-2.0.1] startup +[7.376s] [ext: omni.kit.window.extensions-1.4.27] startup +[7.382s] [ext: omni.kit.scripting-107.3.2] startup +[7.387s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[7.391s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[7.391s] [ext: omni.graph.tools-1.79.2] startup +[7.416s] [ext: omni.ui_query-1.1.8] startup +[7.417s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[7.417s] [ext: omni.graph-1.141.2] startup +[7.463s] [ext: omni.graph.action_core-1.1.7] startup +[7.465s] [ext: omni.kit.ui_test-1.3.7] startup +[7.470s] [ext: omni.kit.browser.core-2.3.13] startup +[7.477s] [ext: omni.kit.usd.collect-2.4.5] startup +[7.479s] [ext: omni.graph.action_nodes-1.50.4] startup +[7.488s] [ext: omni.kit.menu.stage-1.2.7] startup +[7.490s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[7.504s] [ext: omni.kit.usdz_export-1.0.9] startup +[7.509s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[7.525s] [ext: omni.graph.action-1.130.0] startup +[7.531s] [ext: omni.kit.tool.collect-2.2.18] startup +[7.542s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[7.558s] [ext: isaacsim.gui.components-1.2.1] startup +[7.567s] [ext: isaacsim.examples.browser-0.2.1] startup +[7.591s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[7.756s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.765s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.774s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.878s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T22:12:09Z [7,858ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.887s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.887s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.892s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.900s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.903s] [ext: omni.graph.image.core-0.6.1] startup +[7.904s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.905s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.908s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.911s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.914s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.915s] [ext: omni.graph.nodes-1.170.10] startup +[7.927s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.933s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.940s] [ext: omni.syntheticdata-0.6.13] startup +[7.976s] [ext: omni.videoencoding-0.1.2] startup +[7.983s] [ext: omni.warp-1.8.2] startup +[7.991s] [ext: omni.kit.window.material_graph-1.9.1] startup +[8.039s] [ext: omni.graph.scriptnode-1.50.0] startup +[8.046s] [ext: isaacsim.core.prims-0.6.1] startup +[8.154s] [ext: isaacsim.test.docstring-1.1.0] startup +[8.178s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T22:12:10Z [8,420ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T22:12:10Z [8,420ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T22:12:10Z [8,421ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[8.451s] [ext: isaacsim.core.api-4.8.0] startup +[8.474s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[8.532s] [ext: isaacsim.core.nodes-3.4.3] startup +[8.544s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[8.556s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[8.566s] [ext: omni.sensors.nv.common-3.0.0] startup +[8.582s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[8.594s] [ext: isaacsim.sensors.physx-2.3.2] startup +[8.608s] [ext: omni.sensors.nv.materials-2.0.0] startup +[8.616s] [ext: omni.sensors.net-1.0.0] startup +[8.625s] [ext: isaacsim.app.about-2.0.11] startup +[8.631s] [ext: isaacsim.simulation_app-2.12.2] startup +[8.634s] [ext: omni.sensors.nv.ids-2.0.0] startup +[8.641s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[8.652s] [ext: omni.kit.property.audio-1.0.16] startup +[8.657s] [ext: omni.kit.property.camera-1.0.10] startup +[8.662s] [ext: omni.kit.property.geometry-2.0.4] startup +[8.670s] [ext: omni.hydra.scene_api-0.1.2] startup +[8.789s] [ext: omni.kit.property.light-1.0.12] startup +[8.837s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.845s] [ext: omni.kit.selection-0.1.6] startup +[8.872s] [ext: omni.kit.property.material-1.11.9] startup +[9.271s] [ext: omni.kit.property.transform-1.5.13] startup +[9.491s] [ext: omni.kit.property.render-1.2.1] startup +[9.511s] [ext: omni.sensors.nv.radar-3.0.0] startup +[9.528s] [ext: isaacsim.gui.menu-2.4.4] startup +[9.574s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[9.623s] [ext: isaacsim.gui.property-1.1.3] startup +[9.636s] [ext: omni.kit.property.bundle-1.4.1] startup +[9.664s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[9.698s] [ext: isaacsim.sensors.physics-0.4.3] startup +[9.718s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[9.765s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[9.781s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[9.792s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[9.808s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[9.811s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.823s] [ext: omni.kit.window.console-1.1.4] startup +[9.834s] [ext: omni.rtx.window.settings-0.6.19] startup +[9.854s] [ext: omni.ocio-0.1.1] startup +[9.861s] [ext: omni.physx.demos-107.3.26] startup +[9.909s] [ext: omni.kit.property.physx-107.3.26] startup +[9.955s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.988s] [ext: omni.asset_validator.core-1.1.6] startup +[10.084s] [ext: omni.rtx.settings.core-0.6.5] startup +[10.093s] [ext: omni.physx.vehicle-107.3.26] startup +[10.118s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[10.133s] [ext: omni.kit.window.script_editor-2.0.1] startup +[10.137s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[10.148s] [ext: omni.physx.asset_validator-107.3.26] startup +[10.162s] [ext: omni.kit.window.toolbar-2.0.0] startup +[10.169s] [ext: omni.physx.camera-107.3.26] startup +[10.181s] [ext: omni.anim.curve.core-1.3.1] startup +[10.204s] [ext: omni.physx.cct-107.3.26] startup +[10.220s] [ext: omni.physx.graph-107.3.26] startup +[10.242s] [ext: omni.physx.supportui-107.3.26] startup +[10.271s] [ext: omni.physx.telemetry-107.3.26] startup +[10.280s] [ext: isaaclab-0.54.3] startup +[10.644s] [ext: isaaclab_contrib-0.0.2] startup +[10.646s] [ext: isaacsim.core.throttling-2.2.2] startup +[10.649s] [ext: omni.kit.ui.actions-1.0.5] startup +[10.656s] [ext: semantics.schema.property-2.0.1] startup +[10.662s] [ext: omni.physx.bundle-107.3.26] startup +[10.665s] [ext: isaacsim.sensors.camera-1.3.6] startup +[10.671s] [ext: isaaclab_assets-0.2.4] startup +[11.007s] [ext: isaaclab_tasks-0.11.14] startup +[11.183s] [ext: omni.kit.menu.common-2.0.1] startup +[11.186s] [ext: isaaclab_rl-0.5.0] startup +[11.189s] [ext: isaaclab_mimic-1.0.16] startup +[11.191s] [ext: isaaclab.python-2.3.2] startup +[11.194s] Simulation App Starting +2026-07-23T22:12:12Z [11,260ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T22:12:12Z [11,265ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T22:12:12Z [11,265ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T22:12:12Z [11,265ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T22:12:12Z [11,296ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[11.353s] app ready +2026-07-23T22:12:14Z [12,445ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T22:12:14Z [12,445ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T22:12:14Z [12,445ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T22:12:14Z [12,445ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[16.669s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 600; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=12 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=600 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=12 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_06-12-37.log +====================================================================================== + +06:12:37 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 12 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T22:12:38Z [36,683ms] [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 +2026-07-23T22:12:38Z [36,789ms] [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. +2026-07-23T22:12:38Z [36,807ms] [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. +2026-07-23T22:12:38Z [36,819ms] [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 : 0.435135 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T22:12:38Z [36,834ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +2026-07-23T22:12:38Z [36,841ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +2026-07-23T22:12:38Z [37,370ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +2026-07-23T22:12:38Z [37,370ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +2026-07-23T22:12:38Z [37,373ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +2026-07-23T22:12:38Z [37,373ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +2026-07-23T22:12:38Z [37,374ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +2026-07-23T22:12:38Z [37,374ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5623b26e3150:World0.usd@ <0x5623b26e4150>) + +[INFO]: Time taken for simulation start : 0.789520 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T22:12:48Z [47,258ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T22:12:53Z [51,513ms] [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 +2026-07-23T22:12:53Z [51,513ms] [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 +2026-07-23T22:12:53Z [51,514ms] [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 +2026-07-23T22:12:53Z [51,514ms] [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 +2026-07-23T22:13:01Z [59,630ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[collect][auto_swap_T] reset demo=0 seed=12 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.026521999388933182, -0.1625860035419464, 0.7724999785423279], 'quat': [0.9999150037765503, -0.0, -0.0, 0.013020999729633331]}, 't1': {'center': [0.08152700215578079, -0.1967339962720871, 0.7724999785423279], 'quat': [0.16582800447940826, 0.0, -9.999999974752427e-07, 0.9861549735069275]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.026499999687075615, -0.16259999573230743, 0.7724999785423279] pick_tcp=[-0.016499999910593033, -0.1623000055551529, 0.7724999785423279] waypoints=41 +[collect] demo=0 step=1/600 +env0 step: 1 / 600 [collect] demo=0 step=2/600 +env0 step: 2 / 600 [collect] demo=0 step=3/600 +env0 step: 3 / 600 [collect] demo=0 step=4/600 +env0 step: 4 / 600 [collect] demo=0 step=5/600 +env0 step: 5 / 600 [collect] demo=0 step=6/600 +env0 step: 6 / 600 [collect] demo=0 step=7/600 +env0 step: 7 / 600 [collect] demo=0 step=8/600 +env0 step: 8 / 600 [collect] demo=0 step=9/600 +env0 step: 9 / 600 [collect] demo=0 step=10/600 +env0 step: 10 / 600 [collect] demo=0 step=11/600 +env0 step: 11 / 600 [collect] demo=0 step=12/600 +env0 step: 12 / 600 [collect] demo=0 step=13/600 +env0 step: 13 / 600 [collect] demo=0 step=14/600 +env0 step: 14 / 600 [collect] demo=0 step=15/600 +env0 step: 15 / 600 [collect] demo=0 step=16/600 +env0 step: 16 / 600 [collect] demo=0 step=17/600 +env0 step: 17 / 600 [collect] demo=0 step=18/600 +env0 step: 18 / 600 [collect] demo=0 step=19/600 +env0 step: 19 / 600 [collect] demo=0 step=20/600 +env0 step: 20 / 600 [collect] demo=0 step=21/600 +env0 step: 21 / 600 [collect] demo=0 step=22/600 +env0 step: 22 / 600 [collect] demo=0 step=23/600 +env0 step: 23 / 600 [collect] demo=0 step=24/600 +env0 step: 24 / 600 [collect] demo=0 step=25/600 +env0 step: 25 / 600 [collect] demo=0 step=26/600 +env0 step: 26 / 600 [collect] demo=0 step=27/600 +env0 step: 27 / 600 [collect] demo=0 step=28/600 +env0 step: 28 / 600 [collect] demo=0 step=29/600 +env0 step: 29 / 600 [collect] demo=0 step=30/600 +env0 step: 30 / 600 [collect] demo=0 step=31/600 +env0 step: 31 / 600 [collect] demo=0 step=32/600 +env0 step: 32 / 600 [collect] demo=0 step=33/600 +env0 step: 33 / 600 [collect] demo=0 step=34/600 +env0 step: 34 / 600 [collect] demo=0 step=35/600 +env0 step: 35 / 600 [collect] demo=0 step=36/600 +env0 step: 36 / 600 [collect] demo=0 step=37/600 +env0 step: 37 / 600 [collect] demo=0 step=38/600 +env0 step: 38 / 600 [collect] demo=0 step=39/600 +env0 step: 39 / 600 [collect] demo=0 step=40/600 +env0 step: 40 / 600 [collect] demo=0 step=41/600 +env0 step: 41 / 600 [collect][auto_swap_T] left_pickup_verify displacement=0.0182 tracking_error=0.0074 gripper_position=0.0206 secured=True +[collect][auto_swap_T] left_stage observed=[-0.0430000014603138, -0.15469999611377716, 0.7735000252723694] target=[-0.14090000092983246, -0.12639999389648438, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=42/600 +env0 step: 42 / 600 [collect] demo=0 step=43/600 +env0 step: 43 / 600 [collect] demo=0 step=44/600 +env0 step: 44 / 600 [collect] demo=0 step=45/600 +env0 step: 45 / 600 [collect] demo=0 step=46/600 +env0 step: 46 / 600 [collect] demo=0 step=47/600 +env0 step: 47 / 600 [collect] demo=0 step=48/600 +env0 step: 48 / 600 [collect] demo=0 step=49/600 +env0 step: 49 / 600 [collect] demo=0 step=50/600 +env0 step: 50 / 600 [collect] demo=0 step=51/600 +env0 step: 51 / 600 [collect] demo=0 step=52/600 +env0 step: 52 / 600 [collect] demo=0 step=53/600 +env0 step: 53 / 600 [collect] demo=0 step=54/600 +env0 step: 54 / 600 [collect][auto_swap_T] left_stage_verify displacement=0.1023 tracking_error=0.0073 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.13899999856948853, -0.11940000206232071, 0.7738000154495239] lifted=0.0013 ee_to_object_pos=[0.149399995803833, -0.00019999999494757503, -0.013299999758601189] +[collect][auto_swap_T] right_pick label=t1 center=[0.08150000125169754, -0.19670000672340393, 0.7724999785423279] pick_tcp=[0.07209999859333038, -0.19349999725818634, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=55/600 +env0 step: 55 / 600 [collect] demo=0 step=56/600 +env0 step: 56 / 600 [collect] demo=0 step=57/600 +env0 step: 57 / 600 [collect] demo=0 step=58/600 +env0 step: 58 / 600 [collect] demo=0 step=59/600 +env0 step: 59 / 600 [collect] demo=0 step=60/600 +env0 step: 60 / 600 [collect] demo=0 step=61/600 +env0 step: 61 / 600 [collect] demo=0 step=62/600 +env0 step: 62 / 600 [collect] demo=0 step=63/600 +env0 step: 63 / 600 [collect] demo=0 step=64/600 +env0 step: 64 / 600 [collect] demo=0 step=65/600 +env0 step: 65 / 600 [collect] demo=0 step=66/600 +env0 step: 66 / 600 [collect] demo=0 step=67/600 +env0 step: 67 / 600 [collect] demo=0 step=68/600 +env0 step: 68 / 600 [collect] demo=0 step=69/600 +env0 step: 69 / 600 [collect] demo=0 step=70/600 +env0 step: 70 / 600 [collect] demo=0 step=71/600 +env0 step: 71 / 600 [collect] demo=0 step=72/600 +env0 step: 72 / 600 [collect] demo=0 step=73/600 +env0 step: 73 / 600 [collect] demo=0 step=74/600 +env0 step: 74 / 600 [collect] demo=0 step=75/600 +env0 step: 75 / 600 [collect] demo=0 step=76/600 +env0 step: 76 / 600 [collect] demo=0 step=77/600 +env0 step: 77 / 600 [collect] demo=0 step=78/600 +env0 step: 78 / 600 [collect] demo=0 step=79/600 +env0 step: 79 / 600 [collect] demo=0 step=80/600 +env0 step: 80 / 600 [collect] demo=0 step=81/600 +env0 step: 81 / 600 [collect] demo=0 step=82/600 +env0 step: 82 / 600 [collect] demo=0 step=83/600 +env0 step: 83 / 600 [collect] demo=0 step=84/600 +env0 step: 84 / 600 [collect] demo=0 step=85/600 +env0 step: 85 / 600 [collect] demo=0 step=86/600 +env0 step: 86 / 600 [collect] demo=0 step=87/600 +env0 step: 87 / 600 [collect] demo=0 step=88/600 +env0 step: 88 / 600 [collect] demo=0 step=89/600 +env0 step: 89 / 600 [collect] demo=0 step=90/600 +env0 step: 90 / 600 [collect] demo=0 step=91/600 +env0 step: 91 / 600 [collect] demo=0 step=92/600 +env0 step: 92 / 600 [collect] demo=0 step=93/600 +env0 step: 93 / 600 [collect][auto_swap_T] right_pickup_verify displacement=0.0099 tracking_error=0.0167 gripper_position=0.1398 secured=True +[collect][auto_swap_T] right_stage observed=[0.09139999747276306, -0.19519999623298645, 0.7728000283241272] target=[0.19589999318122864, -0.2328999936580658, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=94/600 +env0 step: 94 / 600 [collect] demo=0 step=95/600 +env0 step: 95 / 600 [collect] demo=0 step=96/600 +env0 step: 96 / 600 [collect] demo=0 step=97/600 +env0 step: 97 / 600 [collect] demo=0 step=98/600 +env0 step: 98 / 600 [collect] demo=0 step=99/600 +env0 step: 99 / 600 [collect] demo=0 step=100/600 +env0 step: 100 / 600 [collect] demo=0 step=101/600 +env0 step: 101 / 600 [collect] demo=0 step=102/600 +env0 step: 102 / 600 [collect] demo=0 step=103/600 +env0 step: 103 / 600 [collect] demo=0 step=104/600 +env0 step: 104 / 600 [collect] demo=0 step=105/600 +env0 step: 105 / 600 [collect] demo=0 step=106/600 +env0 step: 106 / 600 [collect] demo=0 step=107/600 +env0 step: 107 / 600 [collect][auto_swap_T] right_stage_verify displacement=0.1104 tracking_error=0.0013 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.1949000060558319, -0.23360000550746918, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.14910000562667847, -9.999999747378752e-05, -0.014399999752640724] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=177.63 +[collect] demo=0 step=108/600 +env0 step: 108 / 600 [collect] demo=0 step=109/600 +env0 step: 109 / 600 [collect] demo=0 step=110/600 +env0 step: 110 / 600 [collect] demo=0 step=111/600 +env0 step: 111 / 600 [collect] demo=0 step=112/600 +env0 step: 112 / 600 [collect] demo=0 step=113/600 +env0 step: 113 / 600 [collect] demo=0 step=114/600 +env0 step: 114 / 600 [collect] demo=0 step=115/600 +env0 step: 115 / 600 [collect] demo=0 step=116/600 +env0 step: 116 / 600 [collect] demo=0 step=117/600 +env0 step: 117 / 600 [collect] demo=0 step=118/600 +env0 step: 118 / 600 [collect] demo=0 step=119/600 +env0 step: 119 / 600 [collect] demo=0 step=120/600 +env0 step: 120 / 600 [collect] demo=0 step=121/600 +env0 step: 121 / 600 [collect] demo=0 step=122/600 +env0 step: 122 / 600 [collect] demo=0 step=123/600 +env0 step: 123 / 600 [collect] demo=0 step=124/600 +env0 step: 124 / 600 [collect] demo=0 step=125/600 +env0 step: 125 / 600 [collect] demo=0 step=126/600 +env0 step: 126 / 600 [collect][auto_swap_T] left_transport step=20 xy=0.1220 z=0.0002 yaw_deg=177.84 +[collect] demo=0 step=127/600 +env0 step: 127 / 600 [collect] demo=0 step=128/600 +env0 step: 128 / 600 [collect] demo=0 step=129/600 +env0 step: 129 / 600 [collect] demo=0 step=130/600 +env0 step: 130 / 600 [collect] demo=0 step=131/600 +env0 step: 131 / 600 [collect] demo=0 step=132/600 +env0 step: 132 / 600 [collect] demo=0 step=133/600 +env0 step: 133 / 600 [collect] demo=0 step=134/600 +env0 step: 134 / 600 [collect] demo=0 step=135/600 +env0 step: 135 / 600 [collect] demo=0 step=136/600 +env0 step: 136 / 600 [collect] demo=0 step=137/600 +env0 step: 137 / 600 [collect] demo=0 step=138/600 +env0 step: 138 / 600 [collect] demo=0 step=139/600 +env0 step: 139 / 600 [collect] demo=0 step=140/600 +env0 step: 140 / 600 [collect] demo=0 step=141/600 +env0 step: 141 / 600 [collect] demo=0 step=142/600 +env0 step: 142 / 600 [collect] demo=0 step=143/600 +env0 step: 143 / 600 [collect] demo=0 step=144/600 +env0 step: 144 / 600 [collect] demo=0 step=145/600 +env0 step: 145 / 600 [collect] demo=0 step=146/600 +env0 step: 146 / 600 [collect][auto_swap_T] left_transport step=40 xy=0.0329 z=0.0002 yaw_deg=175.84 +[collect] demo=0 step=147/600 +env0 step: 147 / 600 [collect] demo=0 step=148/600 +env0 step: 148 / 600 [collect] demo=0 step=149/600 +env0 step: 149 / 600 [collect] demo=0 step=150/600 +env0 step: 150 / 600 [collect] demo=0 step=151/600 +env0 step: 151 / 600 [collect] demo=0 step=152/600 +env0 step: 152 / 600 [collect] demo=0 step=153/600 +env0 step: 153 / 600 [collect] demo=0 step=154/600 +env0 step: 154 / 600 [collect] demo=0 step=155/600 +env0 step: 155 / 600 [collect] demo=0 step=156/600 +env0 step: 156 / 600 [collect] demo=0 step=157/600 +env0 step: 157 / 600 [collect] demo=0 step=158/600 +env0 step: 158 / 600 [collect] demo=0 step=159/600 +env0 step: 159 / 600 [collect] demo=0 step=160/600 +env0 step: 160 / 600 [collect][auto_swap_T] left_transport step=54 xy=0.0054 z=0.0005 yaw_deg=168.12 +[collect] demo=0 step=161/600 +env0 step: 161 / 600 [collect] demo=0 step=162/600 +env0 step: 162 / 600 [collect] demo=0 step=163/600 +env0 step: 163 / 600 [collect] demo=0 step=164/600 +env0 step: 164 / 600 [collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=165/600 +env0 step: 165 / 600 [collect] demo=0 step=166/600 +env0 step: 166 / 600 [collect][auto_swap_T] left_rotate step=60 xy=0.0005 z=0.0001 yaw_deg=164.32 +[collect] demo=0 step=167/600 +env0 step: 167 / 600 [collect] demo=0 step=168/600 +env0 step: 168 / 600 [collect] demo=0 step=169/600 +env0 step: 169 / 600 [collect] demo=0 step=170/600 +env0 step: 170 / 600 [collect] demo=0 step=171/600 +env0 step: 171 / 600 [collect] demo=0 step=172/600 +env0 step: 172 / 600 [collect] demo=0 step=173/600 +env0 step: 173 / 600 [collect] demo=0 step=174/600 +env0 step: 174 / 600 [collect] demo=0 step=175/600 +env0 step: 175 / 600 [collect] demo=0 step=176/600 +env0 step: 176 / 600 [collect] demo=0 step=177/600 +env0 step: 177 / 600 [collect] demo=0 step=178/600 +env0 step: 178 / 600 [collect] demo=0 step=179/600 +env0 step: 179 / 600 [collect] demo=0 step=180/600 +env0 step: 180 / 600 [collect] demo=0 step=181/600 +env0 step: 181 / 600 [collect] demo=0 step=182/600 +env0 step: 182 / 600 [collect] demo=0 step=183/600 +env0 step: 183 / 600 [collect] demo=0 step=184/600 +env0 step: 184 / 600 [collect] demo=0 step=185/600 +env0 step: 185 / 600 [collect] demo=0 step=186/600 +env0 step: 186 / 600 [collect][auto_swap_T] left_rotate step=80 xy=0.0144 z=0.0004 yaw_deg=113.85 +[collect] demo=0 step=187/600 +env0 step: 187 / 600 [collect] demo=0 step=188/600 +env0 step: 188 / 600 [collect] demo=0 step=189/600 +env0 step: 189 / 600 [collect] demo=0 step=190/600 +env0 step: 190 / 600 [collect] demo=0 step=191/600 +env0 step: 191 / 600 [collect] demo=0 step=192/600 +env0 step: 192 / 600 [collect] demo=0 step=193/600 +env0 step: 193 / 600 [collect] demo=0 step=194/600 +env0 step: 194 / 600 [collect] demo=0 step=195/600 +env0 step: 195 / 600 [collect] demo=0 step=196/600 +env0 step: 196 / 600 [collect] demo=0 step=197/600 +env0 step: 197 / 600 [collect] demo=0 step=198/600 +env0 step: 198 / 600 [collect] demo=0 step=199/600 +env0 step: 199 / 600 [collect] demo=0 step=200/600 +env0 step: 200 / 600 [collect] demo=0 step=201/600 +env0 step: 201 / 600 [collect] demo=0 step=202/600 +env0 step: 202 / 600 [collect] demo=0 step=203/600 +env0 step: 203 / 600 [collect] demo=0 step=204/600 +env0 step: 204 / 600 [collect] demo=0 step=205/600 +env0 step: 205 / 600 [collect] demo=0 step=206/600 +env0 step: 206 / 600 [collect][auto_swap_T] left_rotate step=100 xy=0.0312 z=0.0001 yaw_deg=72.56 +[collect] demo=0 step=207/600 +env0 step: 207 / 600 [collect] demo=0 step=208/600 +env0 step: 208 / 600 [collect] demo=0 step=209/600 +env0 step: 209 / 600 [collect] demo=0 step=210/600 +env0 step: 210 / 600 [collect] demo=0 step=211/600 +env0 step: 211 / 600 [collect] demo=0 step=212/600 +env0 step: 212 / 600 [collect] demo=0 step=213/600 +env0 step: 213 / 600 [collect] demo=0 step=214/600 +env0 step: 214 / 600 [collect] demo=0 step=215/600 +env0 step: 215 / 600 [collect] demo=0 step=216/600 +env0 step: 216 / 600 [collect] demo=0 step=217/600 +env0 step: 217 / 600 [collect] demo=0 step=218/600 +env0 step: 218 / 600 [collect] demo=0 step=219/600 +env0 step: 219 / 600 [collect] demo=0 step=220/600 +env0 step: 220 / 600 [collect] demo=0 step=221/600 +env0 step: 221 / 600 [collect] demo=0 step=222/600 +env0 step: 222 / 600 [collect] demo=0 step=223/600 +env0 step: 223 / 600 [collect] demo=0 step=224/600 +env0 step: 224 / 600 [collect] demo=0 step=225/600 +env0 step: 225 / 600 [collect] demo=0 step=226/600 +env0 step: 226 / 600 [collect][auto_swap_T] left_rotate step=120 xy=0.0114 z=0.0001 yaw_deg=37.52 +[collect] demo=0 step=227/600 +env0 step: 227 / 600 [collect] demo=0 step=228/600 +env0 step: 228 / 600 [collect] demo=0 step=229/600 +env0 step: 229 / 600 [collect] demo=0 step=230/600 +env0 step: 230 / 600 [collect] demo=0 step=231/600 +env0 step: 231 / 600 [collect] demo=0 step=232/600 +env0 step: 232 / 600 [collect] demo=0 step=233/600 +env0 step: 233 / 600 [collect] demo=0 step=234/600 +env0 step: 234 / 600 [collect] demo=0 step=235/600 +env0 step: 235 / 600 [collect] demo=0 step=236/600 +env0 step: 236 / 600 [collect] demo=0 step=237/600 +env0 step: 237 / 600 [collect] demo=0 step=238/600 +env0 step: 238 / 600 [collect] demo=0 step=239/600 +env0 step: 239 / 600 [collect] demo=0 step=240/600 +env0 step: 240 / 600 [collect] demo=0 step=241/600 +env0 step: 241 / 600 [collect] demo=0 step=242/600 +env0 step: 242 / 600 [collect] demo=0 step=243/600 +env0 step: 243 / 600 [collect] demo=0 step=244/600 +env0 step: 244 / 600 [collect] demo=0 step=245/600 +env0 step: 245 / 600 [collect] demo=0 step=246/600 +env0 step: 246 / 600 [collect][auto_swap_T] left_rotate step=140 xy=0.0012 z=0.0001 yaw_deg=2.56 +[collect] demo=0 step=247/600 +env0 step: 247 / 600 [collect] demo=0 step=248/600 +env0 step: 248 / 600 [collect][auto_swap_T] left_rotate step=142 xy=0.0008 z=0.0001 yaw_deg=0.08 +[collect] demo=0 step=249/600 +env0 step: 249 / 600 [collect] demo=0 step=250/600 +env0 step: 250 / 600 [collect] demo=0 step=251/600 +env0 step: 251 / 600 [collect] demo=0 step=252/600 +env0 step: 252 / 600 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=253/600 +env0 step: 253 / 600 [collect][auto_swap_T] left_align step=147 xy=0.0019 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=254/600 +env0 step: 254 / 600 [collect] demo=0 step=255/600 +env0 step: 255 / 600 [collect] demo=0 step=256/600 +env0 step: 256 / 600 [collect] demo=0 step=257/600 +env0 step: 257 / 600 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=258/600 +env0 step: 258 / 600 [collect][auto_swap_T] left_release step=152 xy=0.0002 z=0.0001 yaw_deg=-0.01 +[collect] demo=0 step=259/600 +env0 step: 259 / 600 [collect] demo=0 step=260/600 +env0 step: 260 / 600 [collect] demo=0 step=261/600 +env0 step: 261 / 600 [collect] demo=0 step=262/600 +env0 step: 262 / 600 [collect] demo=0 step=263/600 +env0 step: 263 / 600 [collect] demo=0 step=264/600 +env0 step: 264 / 600 [collect] demo=0 step=265/600 +env0 step: 265 / 600 [collect] demo=0 step=266/600 +env0 step: 266 / 600 [collect][auto_swap_T] left_release step=160 xy=0.0003 z=0.0040 yaw_deg=-0.33 +[collect] demo=0 step=267/600 +env0 step: 267 / 600 [collect] demo=0 step=268/600 +env0 step: 268 / 600 [collect] demo=0 step=269/600 +env0 step: 269 / 600 [collect] demo=0 step=270/600 +env0 step: 270 / 600 [collect] demo=0 step=271/600 +env0 step: 271 / 600 [collect] demo=0 step=272/600 +env0 step: 272 / 600 [collect][auto_swap_T] left_feedback released center=[0.0812000036239624, -0.19670000672340393, 0.7724999785423279] quat=[0.16300000250339508, -0.0, -0.0, 0.9865999817848206] +[collect] demo=0 step=273/600 +env0 step: 273 / 600 [collect] demo=0 step=274/600 +env0 step: 274 / 600 [collect] demo=0 step=275/600 +env0 step: 275 / 600 [collect] demo=0 step=276/600 +env0 step: 276 / 600 [collect] demo=0 step=277/600 +env0 step: 277 / 600 [collect] demo=0 step=278/600 +env0 step: 278 / 600 [collect] demo=0 step=279/600 +env0 step: 279 / 600 [collect] demo=0 step=280/600 +env0 step: 280 / 600 [collect] demo=0 step=281/600 +env0 step: 281 / 600 [collect] demo=0 step=282/600 +env0 step: 282 / 600 [collect] demo=0 step=283/600 +env0 step: 283 / 600 [collect] demo=0 step=284/600 +env0 step: 284 / 600 [collect] demo=0 step=285/600 +env0 step: 285 / 600 [collect] demo=0 step=286/600 +env0 step: 286 / 600 [collect] demo=0 step=287/600 +env0 step: 287 / 600 [collect] demo=0 step=288/600 +env0 step: 288 / 600 [collect] demo=0 step=289/600 +env0 step: 289 / 600 [collect] demo=0 step=290/600 +env0 step: 290 / 600 [collect] demo=0 step=291/600 +env0 step: 291 / 600 [collect] demo=0 step=292/600 +env0 step: 292 / 600 [collect] demo=0 step=293/600 +env0 step: 293 / 600 [collect] demo=0 step=294/600 +env0 step: 294 / 600 [collect] demo=0 step=295/600 +env0 step: 295 / 600 [collect] demo=0 step=296/600 +env0 step: 296 / 600 [collect] demo=0 step=297/600 +env0 step: 297 / 600 [collect] demo=0 step=298/600 +env0 step: 298 / 600 [collect] demo=0 step=299/600 +env0 step: 299 / 600 [collect][auto_swap_T] captured_right_grasp object_center=[0.2637999951839447, -0.2069000005722046, 0.7738000154495239] lifted=0.0013 ee_to_object_pos=[0.149399995803833, -9.999999747378752e-05, -0.014800000004470348] +[collect][auto_swap_T] right_detour obstacle=[0.08150000125169754, -0.19670000672340393, 0.7724999785423279] waypoint=[0.1289999932050705, -0.04659999907016754, 0.7937999963760376] clearance=0.1575 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.026499999687075615, -0.16259999573230743, 0.7724999785423279] waypoints=53 +[collect][auto_swap_T] phase=right_place waypoints=53 +[collect] demo=0 step=300/600 +env0 step: 300 / 600 [collect] demo=0 step=301/600 +env0 step: 301 / 600 [collect] demo=0 step=302/600 +env0 step: 302 / 600 [collect] demo=0 step=303/600 +env0 step: 303 / 600 [collect] demo=0 step=304/600 +env0 step: 304 / 600 [collect] demo=0 step=305/600 +env0 step: 305 / 600 [collect] demo=0 step=306/600 +env0 step: 306 / 600 [collect] demo=0 step=307/600 +env0 step: 307 / 600 [collect] demo=0 step=308/600 +env0 step: 308 / 600 [collect] demo=0 step=309/600 +env0 step: 309 / 600 [collect] demo=0 step=310/600 +env0 step: 310 / 600 [collect] demo=0 step=311/600 +env0 step: 311 / 600 [collect] demo=0 step=312/600 +env0 step: 312 / 600 [collect] demo=0 step=313/600 +env0 step: 313 / 600 [collect] demo=0 step=314/600 +env0 step: 314 / 600 [collect] demo=0 step=315/600 +env0 step: 315 / 600 [collect] demo=0 step=316/600 +env0 step: 316 / 600 [collect] demo=0 step=317/600 +env0 step: 317 / 600 [collect] demo=0 step=318/600 +env0 step: 318 / 600 [collect] demo=0 step=319/600 +env0 step: 319 / 600 [collect] demo=0 step=320/600 +env0 step: 320 / 600 [collect] demo=0 step=321/600 +env0 step: 321 / 600 [collect] demo=0 step=322/600 +env0 step: 322 / 600 [collect] demo=0 step=323/600 +env0 step: 323 / 600 [collect] demo=0 step=324/600 +env0 step: 324 / 600 [collect] demo=0 step=325/600 +env0 step: 325 / 600 [collect] demo=0 step=326/600 +env0 step: 326 / 600 [collect] demo=0 step=327/600 +env0 step: 327 / 600 [collect] demo=0 step=328/600 +env0 step: 328 / 600 [collect] demo=0 step=329/600 +env0 step: 329 / 600 [collect] demo=0 step=330/600 +env0 step: 330 / 600 [collect] demo=0 step=331/600 +env0 step: 331 / 600 [collect] demo=0 step=332/600 +env0 step: 332 / 600 [collect] demo=0 step=333/600 +env0 step: 333 / 600 [collect] demo=0 step=334/600 +env0 step: 334 / 600 [collect] demo=0 step=335/600 +env0 step: 335 / 600 [collect] demo=0 step=336/600 +env0 step: 336 / 600 [collect] demo=0 step=337/600 +env0 step: 337 / 600 [collect] demo=0 step=338/600 +env0 step: 338 / 600 [collect] demo=0 step=339/600 +env0 step: 339 / 600 [collect] demo=0 step=340/600 +env0 step: 340 / 600 [collect] demo=0 step=341/600 +env0 step: 341 / 600 [collect] demo=0 step=342/600 +env0 step: 342 / 600 [collect] demo=0 step=343/600 +env0 step: 343 / 600 [collect] demo=0 step=344/600 +env0 step: 344 / 600 [collect] demo=0 step=345/600 +env0 step: 345 / 600 [collect] demo=0 step=346/600 +env0 step: 346 / 600 [collect] demo=0 step=347/600 +env0 step: 347 / 600 [collect] demo=0 step=348/600 +env0 step: 348 / 600 [collect] demo=0 step=349/600 +env0 step: 349 / 600 [collect] demo=0 step=350/600 +env0 step: 350 / 600 [collect] demo=0 step=351/600 +env0 step: 351 / 600 [collect] demo=0 step=352/600 +env0 step: 352 / 600 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.11 +[collect] demo=0 step=353/600 +env0 step: 353 / 600 [collect] demo=0 step=354/600 +env0 step: 354 / 600 [collect] demo=0 step=355/600 +env0 step: 355 / 600 [collect] demo=0 step=356/600 +env0 step: 356 / 600 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=357/600 +env0 step: 357 / 600 [collect][auto_swap_T] right_align step=6 xy=0.0008 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=358/600 +env0 step: 358 / 600 [collect] demo=0 step=359/600 +env0 step: 359 / 600 [collect] demo=0 step=360/600 +env0 step: 360 / 600 [collect] demo=0 step=361/600 +env0 step: 361 / 600 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=362/600 +env0 step: 362 / 600 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0006 yaw_deg=-0.02 +[collect] demo=0 step=363/600 +env0 step: 363 / 600 [collect] demo=0 step=364/600 +env0 step: 364 / 600 [collect] demo=0 step=365/600 +env0 step: 365 / 600 [collect] demo=0 step=366/600 +env0 step: 366 / 600 [collect] demo=0 step=367/600 +env0 step: 367 / 600 [collect] demo=0 step=368/600 +env0 step: 368 / 600 [collect] demo=0 step=369/600 +env0 step: 369 / 600 [collect] demo=0 step=370/600 +env0 step: 370 / 600 [collect] demo=0 step=371/600 +env0 step: 371 / 600 [collect][auto_swap_T] right_release step=20 xy=0.0003 z=0.0040 yaw_deg=-0.11 +[collect] demo=0 step=372/600 +env0 step: 372 / 600 [collect] demo=0 step=373/600 +env0 step: 373 / 600 [collect] demo=0 step=374/600 +env0 step: 374 / 600 [collect] demo=0 step=375/600 +env0 step: 375 / 600 [collect] demo=0 step=376/600 +env0 step: 376 / 600 [collect][auto_swap_T] right_feedback released center=[-0.026200000196695328, -0.16269999742507935, 0.7724999785423279] quat=[0.9998999834060669, -0.0, -0.0, 0.014000000432133675] +[collect] demo=0 step=377/600 +env0 step: 377 / 600 [collect] demo=0 step=378/600 +env0 step: 378 / 600 [collect] demo=0 step=379/600 +env0 step: 379 / 600 [collect] demo=0 step=380/600 +env0 step: 380 / 600 [collect] demo=0 step=381/600 +env0 step: 381 / 600 [collect] demo=0 step=382/600 +env0 step: 382 / 600 [collect] demo=0 step=383/600 +env0 step: 383 / 600 [collect] demo=0 step=384/600 +env0 step: 384 / 600 [collect] demo=0 step=385/600 +env0 step: 385 / 600 [collect] demo=0 step=386/600 +env0 step: 386 / 600 [collect] demo=0 step=387/600 +env0 step: 387 / 600 [collect] demo=0 step=388/600 +env0 step: 388 / 600 [collect] demo=0 step=389/600 +env0 step: 389 / 600 [collect] demo=0 step=390/600 +env0 step: 390 / 600 [collect] demo=0 step=391/600 +env0 step: 391 / 600 [collect] demo=0 step=392/600 +env0 step: 392 / 600 [collect] demo=0 step=393/600 +env0 step: 393 / 600 [collect] demo=0 step=394/600 +env0 step: 394 / 600 [collect] demo=0 step=395/600 +env0 step: 395 / 600 [collect] demo=0 step=396/600 +env0 step: 396 / 600 [collect][swap_T_debug] {'t0': {'pos': [0.081237, -0.196731, 0.7725], 'quat': [0.163, 0.0, 1e-06, 0.986626]}, 't1': {'pos': [-0.026194, -0.162698, 0.7725], 'quat': [0.999902, -2e-06, 0.0, 0.013968]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_overheadhomev18_seed12_diag600.hdf5 +2026-07-23T22:15:12Z [190,899ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:15:12Z [190,899ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[191.322s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_parallel_air_align_seed1.log b/yzr/swap_T/logs/swap_T_parallel_air_align_seed1.log new file mode 100644 index 0000000000000000000000000000000000000000..e2ec2b8817824af49dd935fa9e722d7a6123084f --- /dev/null +++ b/yzr/swap_T/logs/swap_T_parallel_air_align_seed1.log @@ -0,0 +1,829 @@ +[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_20260723_220013.log +[0.080s] [ext: omni.kit.async_engine-0.0.3] startup +[0.278s] [ext: omni.metrics.core-0.0.3] startup +[0.279s] [ext: omni.client.lib-1.1.0] startup +[0.294s] [ext: omni.blobkey-1.1.2] startup +[0.294s] [ext: omni.stats-1.0.1] startup +[0.295s] [ext: omni.datastore-0.0.0] startup +[0.302s] [ext: omni.client-1.3.0] startup +[0.307s] [ext: omni.ujitso.default-1.0.0] startup +[0.309s] [ext: omni.hsscclient-1.1.2] startup +[0.339s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.341s] [ext: omni.assets.plugins-0.0.0] startup +[0.342s] [ext: omni.gpu_foundation-0.0.0] startup +[0.349s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T14:00:13Z [319ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:00:13Z [319ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.350s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T14:00:14Z [670ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T14:00:14Z [672ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T14:00:14Z [672ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T14:00:14Z [672ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T14:00:18Z [4,736ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T14:00:18Z [4,736ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T14:00:18Z [4,739ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T14:00:18Z [4,739ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T14:00:18Z [4,741ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T14:00:18Z [4,741ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T14:00:18Z [4,742ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T14:00:18Z [4,742ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T14:00:18Z [4,742ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T14:00:18Z [4,742ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T14:00:18Z [4,742ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T14:00:18Z [4,742ms] [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: 55986 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[7.096s] [ext: omni.materialx.libs-1.0.7] startup +[7.105s] [ext: omni.kit.loop-isaac-1.3.7] startup +[7.106s] [ext: omni.kit.test-2.0.1] startup +[7.148s] [ext: omni.kit.pipapi-0.0.0] startup +[7.149s] [ext: omni.usd.config-1.0.6] startup +[7.152s] [ext: omni.gpucompute.plugins-0.0.0] startup +[7.153s] [ext: omni.usd.libs-1.0.1] startup +[7.268s] [ext: omni.kit.pip_archive-0.0.0] startup +[7.269s] [ext: omni.mdl-56.0.3] startup +[7.290s] [ext: omni.iray.libs-0.0.0] startup +[7.297s] [ext: omni.mdl.neuraylib-0.2.12] startup +[7.299s] [ext: omni.kit.usd.mdl-1.1.5] startup +[7.402s] [ext: omni.kit.telemetry-0.5.2] startup +[7.442s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T14:00:20Z [7,412ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:00:20Z [7,412ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[7.446s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T14:00:20Z [7,432ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:00:20Z [7,432ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T14:00:20Z [7,441ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:00:20Z [7,441ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[7.474s] [ext: omni.kit.renderer.capture-0.0.0] startup +[7.476s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T14:00:20Z [7,448ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:00:20Z [7,448ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T14:00:20Z [7,449ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:00:20Z [7,449ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T14:00:20Z [7,450ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:00:20Z [7,450ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[7.575s] [ext: omni.ui-2.27.1] startup +[7.585s] [ext: omni.kit.mainwindow-1.0.3] startup +[7.586s] [ext: carb.audio-0.1.0] startup +[7.615s] [ext: omni.uiaudio-1.0.0] startup +[7.616s] [ext: omni.kit.uiapp-0.0.0] startup +[7.616s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[7.619s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[7.626s] [ext: omni.usd.schema.semantics-0.0.0] startup +[7.629s] [ext: omni.usd.schema.audio-0.0.0] startup +[7.633s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[7.636s] [ext: omni.usd.schema.anim-0.0.0] startup +[7.659s] [ext: omni.usd_resolver-1.0.0] startup +[7.664s] [ext: omni.usd.core-1.5.3] startup +[7.667s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[7.691s] [ext: isaacsim.robot.schema-3.6.0] startup +[7.700s] [ext: omni.usd.schema.physx-107.3.26] startup +[7.734s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[7.735s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[7.736s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[7.741s] [ext: omni.graph.exec-0.9.6] startup +[7.742s] [ext: omni.kit.actions.core-1.0.0] startup +[7.744s] [ext: omni.kit.usd_undo-0.1.8] startup +[7.744s] [ext: omni.kit.exec.core-0.13.4] startup +[7.746s] [ext: omni.kit.commands-1.4.10] startup +[7.749s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[7.753s] [ext: omni.activity.core-1.0.3] startup +[7.755s] [ext: omni.resourcemonitor-107.0.1] startup +[7.757s] [ext: omni.timeline-1.0.14] startup +[7.758s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[7.760s] [ext: usdrt.scenegraph-7.6.1] startup +[7.800s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[7.801s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[7.810s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[7.816s] [ext: omni.usd-1.13.10] startup +[7.843s] [ext: omni.kit.asset_converter-5.0.17] startup +[7.856s] [ext: omni.index.libs-380600.8087.0] startup +[7.857s] [ext: omni.volume-0.5.2] startup +[7.860s] [ext: omni.ujitso.client-0.0.0] startup +[7.860s] [ext: omni.index-1.0.1] startup +[7.861s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[7.862s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T14:00:21Z [7,853ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[7.902s] [ext: omni.kit.notification_manager-1.0.10] startup +[7.904s] [ext: omni.kit.clipboard-1.0.5] startup +[7.905s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[7.908s] [ext: omni.kit.raycast.query-1.1.0] startup +[7.914s] [ext: omni.kit.menu.core-1.1.2] startup +[7.915s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[7.918s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[7.919s] [ext: omni.kit.widget.path_field-2.0.11] startup +[7.920s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[7.921s] [ext: omni.kit.widget.options_button-1.0.3] startup +[7.922s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[7.926s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[7.927s] [ext: omni.kit.usd.layers-2.2.11] startup +[7.936s] [ext: omni.ui.scene-1.11.5] startup +[7.940s] [ext: omni.kit.viewport.registry-104.0.6] startup +[7.941s] [ext: omni.kit.window.filepicker-2.13.4] startup +[7.955s] [ext: omni.kit.menu.utils-2.0.5] startup +[7.962s] [ext: omni.kit.context_menu-1.8.6] startup +[7.963s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[7.969s] [ext: omni.kit.hydra_texture-1.4.6] startup +[7.973s] [ext: omni.kit.window.file_importer-1.1.18] startup +[7.975s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[7.976s] [ext: omni.kit.window.drop_support-1.0.5] startup +[7.977s] [ext: omni.kit.widget.viewport-107.1.3] startup +[7.980s] [ext: omni.kit.material.library-2.0.7] startup +[7.985s] [ext: omni.hydra.engine.stats-1.0.3] startup +[7.988s] [ext: omni.kit.widget.settings-1.2.6] startup +[7.990s] [ext: omni.kit.viewport.window-107.2.0] startup +[8.005s] [ext: omni.kit.window.preferences-1.8.0] startup +[8.010s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[8.014s] [ext: omni.kit.viewport.utility-1.1.2] startup +[8.015s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[8.019s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[8.024s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[8.025s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[8.027s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[8.029s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[8.030s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[8.031s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[8.037s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[8.040s] [ext: omni.kit.widget.filter-1.1.4] startup +[8.041s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[8.043s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[8.044s] [ext: omni.fabric.commands-1.1.6] startup +[8.046s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[8.047s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[8.048s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[8.050s] [ext: omni.debugdraw-0.1.4] startup +[8.054s] [ext: omni.kit.widget.stage-3.1.4] startup +[8.064s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[8.065s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[8.065s] [ext: omni.kvdb-107.3.26] startup +[8.067s] [ext: omni.convexdecomposition-107.3.26] startup +[8.070s] [ext: omni.physx.foundation-107.3.26] startup +[8.072s] [ext: omni.localcache-107.3.26] startup +[8.073s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[8.074s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[8.075s] [ext: omni.kit.stage_template.core-1.1.22] startup +[8.075s] [ext: omni.usdphysics-107.3.26] startup +[8.078s] [ext: omni.kit.window.file-2.0.5] startup +[8.080s] [ext: omni.physx.cooking-107.3.26] startup +[8.084s] [ext: omni.physics-107.3.26] startup +[8.087s] [ext: omni.kit.window.property-1.12.1] startup +[8.090s] [ext: omni.kit.window.content_browser-3.1.3] startup +[8.101s] [ext: omni.physx-107.3.26] startup +[8.117s] [ext: omni.physics.stageupdate-107.3.26] startup +[8.119s] [ext: omni.kit.property.usd-4.5.12] startup +[8.130s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[8.131s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T14:00:21Z [8,102ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[8.134s] [ext: omni.kit.widget.prompt-1.0.7] startup +[8.134s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[8.148s] [ext: omni.kit.viewport.actions-107.0.2] startup +[8.152s] [ext: omni.inspect-1.0.2] startup +[8.153s] [ext: omni.kit.widget.layers-1.8.6] startup +[8.165s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[8.166s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[8.174s] [ext: omni.graph.core-2.184.5] startup +[8.177s] [ext: omni.kit.numpy.common-0.1.3] startup +[8.178s] [ext: omni.usdphysics.ui-107.3.26] startup +[8.205s] [ext: omni.physx.commands-107.3.26] startup +[8.209s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[8.210s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T14:00:21Z [8,185ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[8.217s] [ext: omni.physx.ui-107.3.26] startup +[8.249s] [ext: isaacsim.core.version-2.0.6] startup +[8.250s] [ext: omni.physics.tensors-107.3.26] startup +[8.255s] [ext: omni.warp.core-1.8.2] startup +[8.445s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[8.447s] [ext: isaacsim.storage.native-1.5.1] startup +[8.449s] [ext: omni.physx.tensors-107.3.26] startup +[8.454s] [ext: isaacsim.core.utils-3.5.1] startup +[8.458s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[9.926s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[9.928s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[9.930s] [ext: omni.kit.window.stage-2.6.1] startup +[9.935s] [ext: omni.kit.menu.create-2.0.1] startup +[9.937s] [ext: omni.kit.window.extensions-1.4.27] startup +[9.944s] [ext: omni.kit.scripting-107.3.2] startup +[9.948s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[9.952s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[9.953s] [ext: omni.graph.tools-1.79.2] startup +[9.975s] [ext: omni.ui_query-1.1.8] startup +[9.976s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[9.976s] [ext: omni.graph-1.141.2] startup +[10.019s] [ext: omni.graph.action_core-1.1.7] startup +[10.021s] [ext: omni.kit.ui_test-1.3.7] startup +[10.026s] [ext: omni.kit.browser.core-2.3.13] startup +[10.030s] [ext: omni.kit.usd.collect-2.4.5] startup +[10.036s] [ext: omni.graph.action_nodes-1.50.4] startup +[10.041s] [ext: omni.kit.menu.stage-1.2.7] startup +[10.045s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[10.062s] [ext: omni.kit.usdz_export-1.0.9] startup +[10.067s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[10.081s] [ext: omni.graph.action-1.130.0] startup +[10.086s] [ext: omni.kit.tool.collect-2.2.18] startup +[10.090s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[10.101s] [ext: isaacsim.gui.components-1.2.1] startup +[10.107s] [ext: isaacsim.examples.browser-0.2.1] startup +[10.120s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[10.248s] [ext: isaacsim.core.cloner-1.4.10] startup +[10.257s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[10.269s] [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( +[10.404s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T14:00:23Z [10,380ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[10.414s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[10.416s] [ext: omni.kit.window.status_bar-0.1.9] startup +[10.421s] [ext: omni.kit.widget.graph-2.0.0] startup +[10.428s] [ext: omni.kit.stage_templates-2.0.0] startup +[10.431s] [ext: omni.graph.image.core-0.6.1] startup +[10.434s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[10.435s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[10.437s] [ext: omni.graph.image.nodes-1.3.1] startup +[10.441s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[10.444s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[10.446s] [ext: omni.graph.nodes-1.170.10] startup +[10.458s] [ext: omni.graph.ui_nodes-1.50.5] startup +[10.462s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[10.466s] [ext: omni.syntheticdata-0.6.13] startup +[10.494s] [ext: omni.videoencoding-0.1.2] startup +[10.499s] [ext: omni.warp-1.8.2] startup +[10.509s] [ext: omni.kit.window.material_graph-1.9.1] startup +[10.526s] [ext: omni.graph.scriptnode-1.50.0] startup +[10.531s] [ext: isaacsim.core.prims-0.6.1] startup +[10.599s] [ext: isaacsim.test.docstring-1.1.0] startup +[10.613s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T14:00:24Z [10,761ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T14:00:24Z [10,761ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T14:00:24Z [10,765ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[10.807s] [ext: isaacsim.core.api-4.8.0] startup +[10.847s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[10.932s] [ext: isaacsim.core.nodes-3.4.3] startup +[10.949s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[10.961s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[10.970s] [ext: omni.sensors.nv.common-3.0.0] startup +[10.990s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[11.010s] [ext: isaacsim.sensors.physx-2.3.2] startup +[11.030s] [ext: omni.sensors.nv.materials-2.0.0] startup +[11.041s] [ext: omni.sensors.net-1.0.0] startup +[11.050s] [ext: isaacsim.app.about-2.0.11] startup +[11.060s] [ext: isaacsim.simulation_app-2.12.2] startup +[11.062s] [ext: omni.sensors.nv.ids-2.0.0] startup +[11.074s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[11.141s] [ext: omni.kit.property.audio-1.0.16] startup +[11.153s] [ext: omni.kit.property.camera-1.0.10] startup +[11.162s] [ext: omni.kit.property.geometry-2.0.4] startup +[11.180s] [ext: omni.hydra.scene_api-0.1.2] startup +[11.205s] [ext: omni.kit.property.light-1.0.12] startup +[11.258s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[11.265s] [ext: omni.kit.selection-0.1.6] startup +[11.281s] [ext: omni.kit.property.material-1.11.9] startup +[11.394s] [ext: omni.kit.property.transform-1.5.13] startup +[11.497s] [ext: omni.kit.property.render-1.2.1] startup +[11.513s] [ext: omni.sensors.nv.radar-3.0.0] startup +[11.529s] [ext: isaacsim.gui.menu-2.4.4] startup +[11.597s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[11.929s] [ext: isaacsim.gui.property-1.1.3] startup +[11.944s] [ext: omni.kit.property.bundle-1.4.1] startup +[11.954s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[11.989s] [ext: isaacsim.sensors.physics-0.4.3] startup +[12.045s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[12.107s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[12.137s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[12.152s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[12.162s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[12.167s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[12.193s] [ext: omni.kit.window.console-1.1.4] startup +[12.212s] [ext: omni.rtx.window.settings-0.6.19] startup +[12.230s] [ext: omni.ocio-0.1.1] startup +[12.238s] [ext: omni.physx.demos-107.3.26] startup +[12.289s] [ext: omni.kit.property.physx-107.3.26] startup +[12.339s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[12.370s] [ext: omni.asset_validator.core-1.1.6] startup +[12.477s] [ext: omni.rtx.settings.core-0.6.5] startup +[12.486s] [ext: omni.physx.vehicle-107.3.26] startup +[12.514s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[12.532s] [ext: omni.kit.window.script_editor-2.0.1] startup +[12.538s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[12.548s] [ext: omni.physx.asset_validator-107.3.26] startup +[12.563s] [ext: omni.kit.window.toolbar-2.0.0] startup +[12.574s] [ext: omni.physx.camera-107.3.26] startup +[12.595s] [ext: omni.anim.curve.core-1.3.1] startup +[12.615s] [ext: omni.physx.cct-107.3.26] startup +[12.636s] [ext: omni.physx.graph-107.3.26] startup +[12.666s] [ext: omni.physx.supportui-107.3.26] startup +[12.704s] [ext: omni.physx.telemetry-107.3.26] startup +[12.713s] [ext: isaaclab-0.54.3] startup +[13.006s] [ext: isaaclab_contrib-0.0.2] startup +[13.009s] [ext: isaacsim.core.throttling-2.2.2] startup +[13.012s] [ext: omni.kit.ui.actions-1.0.5] startup +[13.017s] [ext: semantics.schema.property-2.0.1] startup +[13.021s] [ext: omni.physx.bundle-107.3.26] startup +[13.024s] [ext: isaacsim.sensors.camera-1.3.6] startup +[13.030s] [ext: isaaclab_assets-0.2.4] startup +[13.322s] [ext: isaaclab_tasks-0.11.14] startup +[13.487s] [ext: omni.kit.menu.common-2.0.1] startup +[13.490s] [ext: isaaclab_rl-0.5.0] startup +[13.494s] [ext: isaaclab_mimic-1.0.16] startup +[13.495s] [ext: isaaclab.python-2.3.2] startup +[13.499s] Simulation App Starting +2026-07-23T14:00:26Z [13,547ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T14:00:26Z [13,552ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T14:00:26Z [13,552ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T14:00:26Z [13,552ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T14:00:27Z [13,581ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[13.647s] app ready +2026-07-23T14:00:27Z [14,555ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T14:00:27Z [14,556ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T14:00:27Z [14,556ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T14:00:27Z [14,556ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[18.046s] 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=1 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=1 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-23_22-00-50.log +====================================================================================== + +22:00:50 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 1 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T14:00:50Z [37,196ms] [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 +2026-07-23T14:00:50Z [37,300ms] [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. +2026-07-23T14:00:50Z [37,319ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-23T14:00:50Z [37,331ms] [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 : 0.462164 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T14:00:50Z [37,347ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +2026-07-23T14:00:50Z [37,354ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +2026-07-23T14:00:51Z [37,817ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +2026-07-23T14:00:51Z [37,818ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +2026-07-23T14:00:51Z [37,820ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +2026-07-23T14:00:51Z [37,820ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +2026-07-23T14:00:51Z [37,821ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +2026-07-23T14:00:51Z [37,821ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf32d8dd40:World0.usd@ <0x55bf32d8ed40>) + +[INFO]: Time taken for simulation start : 0.706671 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T14:01:00Z [46,877ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T14:01:03Z [50,321ms] [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 +2026-07-23T14:01:03Z [50,321ms] [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 +2026-07-23T14:01:03Z [50,322ms] [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 +2026-07-23T14:01:03Z [50,322ms] [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 +2026-07-23T14:01:12Z [58,617ms] [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=1 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.08157599717378616, -0.17713400721549988, 0.7724999785423279], 'quat': [-0.008086999878287315, -0.0, -9.999999974752427e-07, 0.9999669790267944]}, 't1': {'center': [0.060545001178979874, -0.1841450035572052, 0.7724999785423279], 'quat': [0.9190459847450256, -9.999999974752427e-07, 9.999999974752427e-07, -0.3941510021686554]}} +[collect][auto_swap_T] left=t0:[-0.09160000085830688, -0.17730000615119934, 0.7764999866485596]->[0.04839999973773956, -0.19740000367164612, 0.7764999866485596] yaw=-179.1deg right=t1:[0.0674000009894371, -0.19140000641345978, 0.784500002861023]->[-0.07959999889135361, -0.21230000257492065, 0.784500002861023] yaw=-46.4deg +[collect][auto_swap_T] built 390 ee waypoints +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect] demo=0 step=389/400 +env0 step: 389 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.049756, -0.19037, 0.7725], 'quat': [0.918018, -0.0, -0.0, -0.396538]}, 't1': {'pos': [-0.087615, -0.18238, 0.7725], 'quat': [-0.028709, 2e-06, 5e-06, 0.999588]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_parallel_air_align_seed1.hdf5 +2026-07-23T14:03:00Z [167,330ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T14:03:00Z [167,330ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[167.770s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_regv39_seed7_official400.log b/yzr/swap_T/logs/swap_T_regv39_seed7_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..a83c45977ecab7087aa97343fe5c7638d64df92a --- /dev/null +++ b/yzr/swap_T/logs/swap_T_regv39_seed7_official400.log @@ -0,0 +1,827 @@ +[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_131111.log +[0.064s] [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 +[0.214s] [ext: omni.blobkey-1.1.2] startup +[0.214s] [ext: omni.stats-1.0.1] startup +[0.215s] [ext: omni.datastore-0.0.0] startup +[0.220s] [ext: omni.client-1.3.0] startup +[0.225s] [ext: omni.ujitso.default-1.0.0] startup +[0.226s] [ext: omni.hsscclient-1.1.2] startup +[0.249s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.251s] [ext: omni.assets.plugins-0.0.0] startup +[0.252s] [ext: omni.gpu_foundation-0.0.0] startup +[0.259s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T05:11:11Z [233ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:11:11Z [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) +[0.260s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T05:11:11Z [297ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T05:11:11Z [304ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T05:11:11Z [304ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T05:11:11Z [304ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T05:11:11Z [340ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 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. +2026-07-24T05:11:13Z [1,757ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:11:13Z [1,757ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:11:13Z [1,759ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:11:13Z [1,759ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:11:13Z [1,761ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:11:13Z [1,761ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:11:13Z [1,763ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:11:13Z [1,763ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:11:13Z [1,763ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:11:13Z [1,763ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:11:13Z [1,763ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:11:13Z [1,763ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 268090 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.658s] [ext: omni.materialx.libs-1.0.7] startup +[2.667s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.668s] [ext: omni.kit.test-2.0.1] startup +[2.709s] [ext: omni.kit.pipapi-0.0.0] startup +[2.710s] [ext: omni.usd.config-1.0.6] startup +[2.713s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.714s] [ext: omni.usd.libs-1.0.1] startup +[2.823s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.824s] [ext: omni.mdl-56.0.3] startup +[2.845s] [ext: omni.iray.libs-0.0.0] startup +[2.852s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.854s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.957s] [ext: omni.kit.telemetry-0.5.2] startup +[3.011s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T05:11:14Z [2,985ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:11:14Z [2,985ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.015s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T05:11:14Z [3,104ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:11:14Z [3,104ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:11:14Z [3,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:11:14Z [3,115ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.144s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.147s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T05:11:14Z [3,123ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:11:14Z [3,123ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:11:14Z [3,124ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:11:14Z [3,124ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:11:14Z [3,125ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:11:14Z [3,125ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.250s] [ext: omni.ui-2.27.1] startup +[3.261s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.262s] [ext: carb.audio-0.1.0] startup +[3.289s] [ext: omni.uiaudio-1.0.0] startup +[3.290s] [ext: omni.kit.uiapp-0.0.0] startup +[3.290s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.293s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.300s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.303s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.307s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.310s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.334s] [ext: omni.usd_resolver-1.0.0] startup +[3.338s] [ext: omni.usd.core-1.5.3] startup +[3.342s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.366s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.375s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.409s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.410s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.411s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.416s] [ext: omni.graph.exec-0.9.6] startup +[3.417s] [ext: omni.kit.actions.core-1.0.0] startup +[3.419s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.419s] [ext: omni.kit.exec.core-0.13.4] startup +[3.421s] [ext: omni.kit.commands-1.4.10] startup +[3.424s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.428s] [ext: omni.activity.core-1.0.3] startup +[3.430s] [ext: omni.resourcemonitor-107.0.1] startup +[3.432s] [ext: omni.timeline-1.0.14] startup +[3.434s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.436s] [ext: usdrt.scenegraph-7.6.1] startup +[3.476s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.477s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.488s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.494s] [ext: omni.usd-1.13.10] startup +[3.521s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.535s] [ext: omni.index.libs-380600.8087.0] startup +[3.535s] [ext: omni.volume-0.5.2] startup +[3.538s] [ext: omni.ujitso.client-0.0.0] startup +[3.538s] [ext: omni.index-1.0.1] startup +[3.539s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.540s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T05:11:15Z [3,534ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.580s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.583s] [ext: omni.kit.clipboard-1.0.5] startup +[3.584s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.587s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.593s] [ext: omni.kit.menu.core-1.1.2] startup +[3.594s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.597s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.599s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.599s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.600s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.601s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.605s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.606s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.615s] [ext: omni.ui.scene-1.11.5] startup +[3.619s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.620s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.634s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.644s] [ext: omni.kit.context_menu-1.8.6] startup +[3.646s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.652s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.656s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.658s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.659s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.659s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.663s] [ext: omni.kit.material.library-2.0.7] startup +[3.668s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.671s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.673s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.688s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.703s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.709s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.710s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.714s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.718s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.719s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.721s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.723s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.724s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.725s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.731s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.735s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.735s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.737s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.738s] [ext: omni.fabric.commands-1.1.6] startup +[3.742s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.744s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.745s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.747s] [ext: omni.debugdraw-0.1.4] startup +[3.751s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.763s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.764s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.764s] [ext: omni.kvdb-107.3.26] startup +[3.766s] [ext: omni.convexdecomposition-107.3.26] startup +[3.769s] [ext: omni.physx.foundation-107.3.26] startup +[3.771s] [ext: omni.localcache-107.3.26] startup +[3.772s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.773s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.773s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.774s] [ext: omni.usdphysics-107.3.26] startup +[3.776s] [ext: omni.kit.window.file-2.0.5] startup +[3.779s] [ext: omni.physx.cooking-107.3.26] startup +[3.783s] [ext: omni.physics-107.3.26] startup +[3.786s] [ext: omni.kit.window.property-1.12.1] startup +[3.789s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.801s] [ext: omni.physx-107.3.26] startup +[3.814s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.816s] [ext: omni.kit.property.usd-4.5.12] startup +[3.827s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.828s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T05:11:15Z [3,803ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.830s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.831s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.844s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.848s] [ext: omni.inspect-1.0.2] startup +[3.850s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.861s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.864s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.871s] [ext: omni.graph.core-2.184.5] startup +[3.875s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.876s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.906s] [ext: omni.physx.commands-107.3.26] startup +[3.911s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.912s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T05:11:15Z [3,891ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.919s] [ext: omni.physx.ui-107.3.26] startup +[3.952s] [ext: isaacsim.core.version-2.0.6] startup +[3.953s] [ext: omni.physics.tensors-107.3.26] startup +[3.958s] [ext: omni.warp.core-1.8.2] startup +[4.153s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.155s] [ext: isaacsim.storage.native-1.5.1] startup +[4.157s] [ext: omni.physx.tensors-107.3.26] startup +[4.163s] [ext: isaacsim.core.utils-3.5.1] startup +[4.167s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.607s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.608s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.610s] [ext: omni.kit.window.stage-2.6.1] startup +[5.615s] [ext: omni.kit.menu.create-2.0.1] startup +[5.617s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.625s] [ext: omni.kit.scripting-107.3.2] startup +[5.629s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.633s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.633s] [ext: omni.graph.tools-1.79.2] startup +[5.655s] [ext: omni.ui_query-1.1.8] startup +[5.656s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.656s] [ext: omni.graph-1.141.2] startup +[5.698s] [ext: omni.graph.action_core-1.1.7] startup +[5.700s] [ext: omni.kit.ui_test-1.3.7] startup +[5.705s] [ext: omni.kit.browser.core-2.3.13] startup +[5.709s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.714s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.718s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.723s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.734s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.742s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.756s] [ext: omni.graph.action-1.130.0] startup +[5.761s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.764s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.772s] [ext: isaacsim.gui.components-1.2.1] startup +[5.778s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.788s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.917s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.931s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.942s] [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( +[6.036s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T05:11:17Z [6,017ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.046s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.049s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.053s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.060s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.064s] [ext: omni.graph.image.core-0.6.1] startup +[6.066s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.067s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.069s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.073s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.076s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.078s] [ext: omni.graph.nodes-1.170.10] startup +[6.089s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.095s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.101s] [ext: omni.syntheticdata-0.6.13] startup +[6.136s] [ext: omni.videoencoding-0.1.2] startup +[6.139s] [ext: omni.warp-1.8.2] startup +[6.146s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.165s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.170s] [ext: isaacsim.core.prims-0.6.1] startup +[6.216s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.221s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T05:11:17Z [6,380ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T05:11:17Z [6,380ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T05:11:17Z [6,381ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.415s] [ext: isaacsim.core.api-4.8.0] startup +[6.483s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.558s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.577s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.586s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.597s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.616s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.627s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.642s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.653s] [ext: omni.sensors.net-1.0.0] startup +[6.663s] [ext: isaacsim.app.about-2.0.11] startup +[6.672s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.674s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.684s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.735s] [ext: omni.kit.property.audio-1.0.16] startup +[6.747s] [ext: omni.kit.property.camera-1.0.10] startup +[6.751s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.789s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.801s] [ext: omni.kit.property.light-1.0.12] startup +[6.865s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.884s] [ext: omni.kit.selection-0.1.6] startup +[6.925s] [ext: omni.kit.property.material-1.11.9] startup +[7.273s] [ext: omni.kit.property.transform-1.5.13] startup +[7.311s] [ext: omni.kit.property.render-1.2.1] startup +[7.322s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.335s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.369s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.393s] [ext: isaacsim.gui.property-1.1.3] startup +[7.401s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.407s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.433s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.453s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.496s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.517s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.540s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.549s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.553s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.578s] [ext: omni.kit.window.console-1.1.4] startup +[7.592s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.607s] [ext: omni.ocio-0.1.1] startup +[7.614s] [ext: omni.physx.demos-107.3.26] startup +[7.663s] [ext: omni.kit.property.physx-107.3.26] startup +[7.710s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.741s] [ext: omni.asset_validator.core-1.1.6] startup +[7.841s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.849s] [ext: omni.physx.vehicle-107.3.26] startup +[7.877s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.894s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.901s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.910s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.925s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.933s] [ext: omni.physx.camera-107.3.26] startup +[7.955s] [ext: omni.anim.curve.core-1.3.1] startup +[7.974s] [ext: omni.physx.cct-107.3.26] startup +[7.995s] [ext: omni.physx.graph-107.3.26] startup +[8.025s] [ext: omni.physx.supportui-107.3.26] startup +[8.052s] [ext: omni.physx.telemetry-107.3.26] startup +[8.064s] [ext: isaaclab-0.54.3] startup +[8.354s] [ext: isaaclab_contrib-0.0.2] startup +[8.357s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.359s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.364s] [ext: semantics.schema.property-2.0.1] startup +[8.368s] [ext: omni.physx.bundle-107.3.26] startup +[8.371s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.376s] [ext: isaaclab_assets-0.2.4] startup +[8.671s] [ext: isaaclab_tasks-0.11.14] startup +[8.833s] [ext: omni.kit.menu.common-2.0.1] startup +[8.836s] [ext: isaaclab_rl-0.5.0] startup +[8.837s] [ext: isaaclab_mimic-1.0.16] startup +[8.839s] [ext: isaaclab.python-2.3.2] startup +[8.843s] Simulation App Starting +2026-07-24T05:11:20Z [8,901ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T05:11:20Z [8,901ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T05:11:20Z [8,901ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T05:11:20Z [8,931ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T05:11:20Z [8,959ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T05:11:20Z [8,959ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T05:11:20Z [8,959ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[9.000s] app ready +2026-07-24T05:11:20Z [9,376ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T05:11:20Z [9,376ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T05:11:20Z [9,376ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T05:11:20Z [9,376ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[12.720s] 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=7 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=7 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_13-11-39.log +====================================================================================== + +13:11:40 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 7 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T05:11:40Z [28,758ms] [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 +2026-07-24T05:11:40Z [28,858ms] [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. +2026-07-24T05:11:40Z [28,874ms] [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. +2026-07-24T05:11:40Z [28,885ms] [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 : 0.446027 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T05:11:40Z [28,899ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +2026-07-24T05:11:40Z [28,906ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +2026-07-24T05:11:40Z [29,361ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +2026-07-24T05:11:40Z [29,362ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +2026-07-24T05:11:40Z [29,365ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +2026-07-24T05:11:40Z [29,365ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +2026-07-24T05:11:40Z [29,365ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +2026-07-24T05:11:40Z [29,366ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55aa686b13b0:World0.usd@ <0x55aa6e90bb40>) + +[INFO]: Time taken for simulation start : 0.693977 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T05:11:49Z [38,130ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T05:11:49Z [38,365ms] [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 +2026-07-24T05:11:49Z [38,365ms] [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 +2026-07-24T05:11:49Z [38,365ms] [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 +2026-07-24T05:11:49Z [38,365ms] [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 +2026-07-24T05:12:02Z [50,854ms] [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=7 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.03535500168800354, -0.15779000520706177, 0.7724999785423279], 'quat': [0.853111982345581, 0.0, 9.999999974752427e-07, 0.521727979183197]}, 't1': {'center': [0.079585000872612, -0.18679800629615784, 0.7724999785423279], 'quat': [0.08500699698925018, 0.0, -9.999999974752427e-07, 0.9963799715042114]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.03539999946951866, -0.15780000388622284, 0.7724999785423279] pick_tcp=[-0.030799999833106995, -0.14890000224113464, 0.7724999785423279] waypoints=34 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0174 tracking_error=0.0077 gripper_position=0.0000 secured=True +[collect][auto_swap_T] left_stage observed=[-0.05249999836087227, -0.15469999611377716, 0.7724999785423279] target=[-0.1517000049352646, -0.12839999794960022, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1096 tracking_error=0.0104 gripper_position=0.1586 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.15610000491142273, -0.11900000274181366, 0.7728000283241272] lifted=0.0003 ee_to_object_pos=[0.149399995803833, -9.999999747378752e-05, -0.016200000420212746] +[collect][auto_swap_T] right_pick label=t1 center=[0.07959999889135361, -0.1868000030517578, 0.7724999785423279] pick_tcp=[0.06970000267028809, -0.1851000040769577, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0035 tracking_error=0.0221 gripper_position=0.5639 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.08290000259876251, -0.1858000010251999, 0.7724999785423279] target=[0.19589999318122864, -0.21619999408721924, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1093 tracking_error=0.0086 gripper_position=0.1608 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.1875, -0.21770000457763672, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.15279999375343323, -0.00039999998989515007, 0.006200000178068876] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=137.91 +[collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect][auto_swap_T] left_transport step=20 xy=0.1376 z=0.0002 yaw_deg=137.73 +[collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect][auto_swap_T] left_transport step=40 xy=0.0346 z=0.0002 yaw_deg=137.45 +[collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect][auto_swap_T] left_transport step=59 xy=0.0051 z=0.0011 yaw_deg=129.61 +[collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0008 z=0.0001 yaw_deg=129.34 +[collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect][auto_swap_T] left_rotate step=80 xy=0.0112 z=0.0004 yaw_deg=95.99 +[collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect][auto_swap_T] left_rotate step=100 xy=0.0009 z=0.0001 yaw_deg=67.96 +[collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect][auto_swap_T] left_rotate step=120 xy=0.0010 z=0.0001 yaw_deg=41.66 +[collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect][auto_swap_T] left_rotate step=140 xy=0.0011 z=0.0001 yaw_deg=15.36 +[collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect][auto_swap_T] left_rotate step=152 xy=0.0009 z=0.0000 yaw_deg=0.12 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect][auto_swap_T] left_align step=154 xy=0.0009 z=0.0005 yaw_deg=-0.02 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect][auto_swap_T] left_release step=155 xy=0.0003 z=0.0005 yaw_deg=0.07 +[collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect][auto_swap_T] left_release step=160 xy=0.0002 z=0.0040 yaw_deg=-0.08 +[collect][auto_swap_T] left_feedback released center=[0.07940000295639038, -0.1868000030517578, 0.7724999785423279] quat=[0.08429999649524689, 0.0, -0.0, 0.996399998664856] +[collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[0.23600000143051147, -0.2078000009059906, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.15080000460147858, -0.00019999999494757503, 0.006500000134110451] +[collect][auto_swap_T] right_detour obstacle=[0.07959999889135361, -0.1868000030517578, 0.7724999785423279] waypoint=[0.13750000298023224, 0.04270000010728836, 0.7940000295639038] clearance=0.2367 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.03539999946951866, -0.15780000388622284, 0.7724999785423279] waypoints=48 +[collect][auto_swap_T] phase=right_place waypoints=48 +[collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.08 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect][auto_swap_T] right_align step=2 xy=0.0006 z=0.0037 yaw_deg=-0.01 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect][auto_swap_T] right_release step=3 xy=0.0003 z=0.0009 yaw_deg=-0.03 +[collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect][auto_swap_T] right_feedback released center=[-0.03530000150203705, -0.15790000557899475, 0.7724999785423279] quat=[0.8525999784469604, 0.0, 0.0, 0.522599995136261] +[collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.008999999612569809, -0.00019999999494757503], 'rot_deg': 19.68, 'real': [-0.2996000051498413, -0.3433000147342682, 0.9212999939918518, 0.6815000176429749, -0.15889999270439148, -0.059300001710653305, 0.711899995803833], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.17430000007152557, 0.2168000042438507, 0.10109999775886536], 'rot_deg': 58.53, 'real': [0.12620000541210175, -0.1354999989271164, 1.0226000547409058, 0.6388000249862671, -0.20260000228881836, 0.4438000023365021, 0.5950000286102295], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=2 +[collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0005000000237487257, 9.999999747378752e-05], 'rot_deg': 1.42, 'real': [-0.2996000051498413, -0.35179999470710754, 0.9215999841690063, 0.7059999704360962, -0.01140000019222498, -0.004800000227987766, 0.7081000208854675], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.06920000165700912, 0.17739999294281006, 0.12080000340938568], 'rot_deg': 35.35, 'real': [0.23119999468326569, -0.17489999532699585, 1.0422999858856201, 0.6776000261306763, -0.11739999800920486, 0.2800000011920929, 0.6697999835014343], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=2 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.079431, -0.186784, 0.7725], 'quat': [0.084299, 1e-06, -2e-06, 0.996441]}, 't1': {'pos': [-0.035335, -0.157896, 0.7725], 'quat': [0.852602, 1e-06, 1e-06, 0.522562]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_regv39_seed7_official400.hdf5 +2026-07-24T05:13:35Z [144,073ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:13:35Z [144,073ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[144.481s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_regv45_seed30_official400.log b/yzr/swap_T/logs/swap_T_regv45_seed30_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..a9c3d66b93360a3a6ad9dfff0b5651b93726a45e --- /dev/null +++ b/yzr/swap_T/logs/swap_T_regv45_seed30_official400.log @@ -0,0 +1,855 @@ +[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_134328.log +[0.060s] [ext: omni.kit.async_engine-0.0.3] startup +[0.201s] [ext: omni.metrics.core-0.0.3] startup +[0.202s] [ext: omni.client.lib-1.1.0] startup +[0.217s] [ext: omni.blobkey-1.1.2] startup +[0.217s] [ext: omni.stats-1.0.1] startup +[0.218s] [ext: omni.datastore-0.0.0] startup +[0.225s] [ext: omni.client-1.3.0] startup +[0.230s] [ext: omni.ujitso.default-1.0.0] startup +[0.232s] [ext: omni.hsscclient-1.1.2] startup +[0.254s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.256s] [ext: omni.assets.plugins-0.0.0] startup +[0.257s] [ext: omni.gpu_foundation-0.0.0] startup +[0.265s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T05:43:29Z [240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:43:29Z [240ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.266s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T05:43:29Z [327ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T05:43:29Z [339ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T05:43:29Z [339ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T05:43:29Z [339ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T05:43:29Z [401ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3938.58 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods: +- 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. +2026-07-24T05:43:29Z [992ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:43:29Z [992ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:43:29Z [993ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:43:29Z [993ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:43:29Z [994ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:43:29Z [994ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T05:43:29Z [995ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T05:43:29Z [995ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 226516 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.767s] [ext: omni.materialx.libs-1.0.7] startup +[1.776s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.777s] [ext: omni.kit.test-2.0.1] startup +[1.821s] [ext: omni.kit.pipapi-0.0.0] startup +[1.821s] [ext: omni.usd.config-1.0.6] startup +[1.825s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.825s] [ext: omni.usd.libs-1.0.1] startup +[1.943s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.943s] [ext: omni.mdl-56.0.3] startup +[1.966s] [ext: omni.iray.libs-0.0.0] startup +[1.974s] [ext: omni.mdl.neuraylib-0.2.12] startup +[1.977s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.083s] [ext: omni.kit.telemetry-0.5.2] startup +[2.119s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T05:43:30Z [2,096ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:43:30Z [2,096ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.124s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T05:43:30Z [2,117ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:43:30Z [2,117ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:43:30Z [2,128ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:43:30Z [2,128ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.155s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.158s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T05:43:30Z [2,136ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:43:30Z [2,136ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:43:30Z [2,137ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:43:30Z [2,137ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T05:43:30Z [2,139ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:43:30Z [2,139ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.256s] [ext: omni.ui-2.27.1] startup +[2.268s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.269s] [ext: carb.audio-0.1.0] startup +[2.299s] [ext: omni.uiaudio-1.0.0] startup +[2.300s] [ext: omni.kit.uiapp-0.0.0] startup +[2.300s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.303s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.310s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.314s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.320s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.325s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.356s] [ext: omni.usd_resolver-1.0.0] startup +[2.360s] [ext: omni.usd.core-1.5.3] startup +[2.364s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.388s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.397s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.432s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.433s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.433s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.439s] [ext: omni.graph.exec-0.9.6] startup +[2.439s] [ext: omni.kit.actions.core-1.0.0] startup +[2.441s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.442s] [ext: omni.kit.exec.core-0.13.4] startup +[2.443s] [ext: omni.kit.commands-1.4.10] startup +[2.447s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.452s] [ext: omni.activity.core-1.0.3] startup +[2.455s] [ext: omni.resourcemonitor-107.0.1] startup +[2.457s] [ext: omni.timeline-1.0.14] startup +[2.458s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.460s] [ext: usdrt.scenegraph-7.6.1] startup +[2.500s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.502s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.510s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.516s] [ext: omni.usd-1.13.10] startup +[2.543s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.556s] [ext: omni.index.libs-380600.8087.0] startup +[2.556s] [ext: omni.volume-0.5.2] startup +[2.559s] [ext: omni.ujitso.client-0.0.0] startup +[2.560s] [ext: omni.index-1.0.1] startup +[2.560s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.561s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T05:43:31Z [2,559ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.602s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.604s] [ext: omni.kit.clipboard-1.0.5] startup +[2.605s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.608s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.614s] [ext: omni.kit.menu.core-1.1.2] startup +[2.615s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.618s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.619s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.620s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.621s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.622s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.629s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.629s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.639s] [ext: omni.ui.scene-1.11.5] startup +[2.643s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.644s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.658s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.665s] [ext: omni.kit.context_menu-1.8.6] startup +[2.667s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.673s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.677s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.679s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.680s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.680s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.684s] [ext: omni.kit.material.library-2.0.7] startup +[2.689s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.693s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.694s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.713s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.718s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.723s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.723s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.728s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.732s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.733s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.735s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.736s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.737s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.738s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.745s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.748s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.748s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.750s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.751s] [ext: omni.fabric.commands-1.1.6] startup +[2.754s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.755s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.757s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.758s] [ext: omni.debugdraw-0.1.4] startup +[2.762s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.773s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.774s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.774s] [ext: omni.kvdb-107.3.26] startup +[2.776s] [ext: omni.convexdecomposition-107.3.26] startup +[2.779s] [ext: omni.physx.foundation-107.3.26] startup +[2.781s] [ext: omni.localcache-107.3.26] startup +[2.782s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.783s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.784s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.784s] [ext: omni.usdphysics-107.3.26] startup +[2.787s] [ext: omni.kit.window.file-2.0.5] startup +[2.790s] [ext: omni.physx.cooking-107.3.26] startup +[2.793s] [ext: omni.physics-107.3.26] startup +[2.797s] [ext: omni.kit.window.property-1.12.1] startup +[2.799s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.811s] [ext: omni.physx-107.3.26] startup +[2.822s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.824s] [ext: omni.kit.property.usd-4.5.12] startup +[2.834s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.835s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T05:43:31Z [2,812ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.838s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.838s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.851s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.856s] [ext: omni.inspect-1.0.2] startup +[2.857s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.868s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[2.870s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[2.878s] [ext: omni.graph.core-2.184.5] startup +[2.881s] [ext: omni.kit.numpy.common-0.1.3] startup +[2.883s] [ext: omni.usdphysics.ui-107.3.26] startup +[2.910s] [ext: omni.physx.commands-107.3.26] startup +[2.914s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[2.915s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T05:43:31Z [2,896ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[2.922s] [ext: omni.physx.ui-107.3.26] startup +[2.954s] [ext: isaacsim.core.version-2.0.6] startup +[2.955s] [ext: omni.physics.tensors-107.3.26] startup +[2.959s] [ext: omni.warp.core-1.8.2] startup +[3.151s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.153s] [ext: isaacsim.storage.native-1.5.1] startup +[3.154s] [ext: omni.physx.tensors-107.3.26] startup +[3.160s] [ext: isaacsim.core.utils-3.5.1] startup +[3.163s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.692s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.695s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.698s] [ext: omni.kit.window.stage-2.6.1] startup +[4.705s] [ext: omni.kit.menu.create-2.0.1] startup +[4.707s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.713s] [ext: omni.kit.scripting-107.3.2] startup +[4.718s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.723s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.723s] [ext: omni.graph.tools-1.79.2] startup +[4.746s] [ext: omni.ui_query-1.1.8] startup +[4.747s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.747s] [ext: omni.graph-1.141.2] startup +[4.793s] [ext: omni.graph.action_core-1.1.7] startup +[4.796s] [ext: omni.kit.ui_test-1.3.7] startup +[4.800s] [ext: omni.kit.browser.core-2.3.13] startup +[4.805s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.810s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.816s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.819s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.831s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.836s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.851s] [ext: omni.graph.action-1.130.0] startup +[4.854s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.862s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.871s] [ext: isaacsim.gui.components-1.2.1] startup +[4.881s] [ext: isaacsim.examples.browser-0.2.1] startup +[4.895s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.009s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.017s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.028s] [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( +[5.120s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T05:43:33Z [5,103ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.131s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.133s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.137s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.145s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.148s] [ext: omni.graph.image.core-0.6.1] startup +[5.150s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.151s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.153s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.158s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.162s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.165s] [ext: omni.graph.nodes-1.170.10] startup +[5.183s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.189s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.195s] [ext: omni.syntheticdata-0.6.13] startup +[5.242s] [ext: omni.videoencoding-0.1.2] startup +[5.248s] [ext: omni.warp-1.8.2] startup +[5.255s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.276s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.281s] [ext: isaacsim.core.prims-0.6.1] startup +[5.324s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.336s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T05:43:34Z [5,686ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T05:43:34Z [5,686ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T05:43:34Z [5,687ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.718s] [ext: isaacsim.core.api-4.8.0] startup +[5.749s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.814s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.832s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.843s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.852s] [ext: omni.sensors.nv.common-3.0.0] startup +[5.867s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[5.873s] [ext: isaacsim.sensors.physx-2.3.2] startup +[5.887s] [ext: omni.sensors.nv.materials-2.0.0] startup +[5.897s] [ext: omni.sensors.net-1.0.0] startup +[5.905s] [ext: isaacsim.app.about-2.0.11] startup +[5.909s] [ext: isaacsim.simulation_app-2.12.2] startup +[5.910s] [ext: omni.sensors.nv.ids-2.0.0] startup +[5.918s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[5.927s] [ext: omni.kit.property.audio-1.0.16] startup +[5.939s] [ext: omni.kit.property.camera-1.0.10] startup +[5.977s] [ext: omni.kit.property.geometry-2.0.4] startup +[5.990s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.007s] [ext: omni.kit.property.light-1.0.12] startup +[6.046s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.049s] [ext: omni.kit.selection-0.1.6] startup +[6.054s] [ext: omni.kit.property.material-1.11.9] startup +[6.093s] [ext: omni.kit.property.transform-1.5.13] startup +[6.113s] [ext: omni.kit.property.render-1.2.1] startup +[6.120s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.126s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.188s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.399s] [ext: isaacsim.gui.property-1.1.3] startup +[6.479s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.538s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.700s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.811s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.890s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.907s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.936s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.948s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.953s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.982s] [ext: omni.kit.window.console-1.1.4] startup +[6.997s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.014s] [ext: omni.ocio-0.1.1] startup +[7.023s] [ext: omni.physx.demos-107.3.26] startup +[7.077s] [ext: omni.kit.property.physx-107.3.26] startup +[7.124s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.157s] [ext: omni.asset_validator.core-1.1.6] startup +[7.258s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.267s] [ext: omni.physx.vehicle-107.3.26] startup +[7.295s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.309s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.314s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.322s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.336s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.345s] [ext: omni.physx.camera-107.3.26] startup +[7.357s] [ext: omni.anim.curve.core-1.3.1] startup +[7.379s] [ext: omni.physx.cct-107.3.26] startup +[7.396s] [ext: omni.physx.graph-107.3.26] startup +[7.418s] [ext: omni.physx.supportui-107.3.26] startup +[7.445s] [ext: omni.physx.telemetry-107.3.26] startup +[7.453s] [ext: isaaclab-0.54.3] startup +[7.787s] [ext: isaaclab_contrib-0.0.2] startup +[7.790s] [ext: isaacsim.core.throttling-2.2.2] startup +[7.793s] [ext: omni.kit.ui.actions-1.0.5] startup +[7.799s] [ext: semantics.schema.property-2.0.1] startup +[7.802s] [ext: omni.physx.bundle-107.3.26] startup +[7.802s] [ext: isaacsim.sensors.camera-1.3.6] startup +[7.811s] [ext: isaaclab_assets-0.2.4] startup +[8.127s] [ext: isaaclab_tasks-0.11.14] startup +[8.298s] [ext: omni.kit.menu.common-2.0.1] startup +[8.301s] [ext: isaaclab_rl-0.5.0] startup +[8.304s] [ext: isaaclab_mimic-1.0.16] startup +[8.306s] [ext: isaaclab.python-2.3.2] startup +[8.310s] Simulation App Starting +2026-07-24T05:43:37Z [8,366ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T05:43:37Z [8,371ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T05:43:37Z [8,371ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T05:43:37Z [8,371ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T05:43:37Z [8,402ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-24T05:43:37Z [8,443ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-24T05:43:37Z [8,444ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-24T05:43:37Z [8,444ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[8.484s] app ready +2026-07-24T05:43:37Z [9,005ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T05:43:37Z [9,005ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T05:43:37Z [9,005ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T05:43:37Z [9,006ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[12.315s] 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=30 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=30 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_13-43-59.log +====================================================================================== + +13:43:59 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 30 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T05:44:00Z [31,248ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T05:44:00Z [31,359ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T05:44:00Z [31,379ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-24T05:44:00Z [31,391ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.474887 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T05:44:00Z [31,408ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +2026-07-24T05:44:00Z [31,415ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +2026-07-24T05:44:00Z [31,898ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +2026-07-24T05:44:00Z [31,898ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +2026-07-24T05:44:00Z [31,901ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +2026-07-24T05:44:00Z [31,902ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +2026-07-24T05:44:00Z [31,902ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +2026-07-24T05:44:00Z [31,902ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x55d262ec4990:World0.usd@ <0x55d262ec5990>) + +[INFO]: Time taken for simulation start : 0.734814 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T05:44:09Z [40,213ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T05:44:09Z [40,487ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T05:44:09Z [40,487ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(51,20): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T05:44:09Z [40,487ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(52,31): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T05:44:09Z [40,487ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(54,27): C302 conversion from 'float' to 'float2' must be explicit +2026-07-24T05:44:20Z [52,035ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[collect][auto_swap_T] reset demo=0 seed=30 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.08004699647426605, -0.17819499969482422, 0.7724999785423279], 'quat': [-0.6510249972343445, 0.0, 0.0, 0.7590569853782654]}, 't1': {'center': [0.06340400129556656, -0.19785800576210022, 0.7724999785423279], 'quat': [0.7851470112800598, -9.999999974752427e-07, -9.999999974752427e-07, 0.6193100214004517]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07999999821186066, -0.17820000648498535, 0.7724999785423279] pick_tcp=[-0.08160000294446945, -0.18809999525547028, 0.7724999785423279] waypoints=32 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0000 tracking_error=0.0250 gripper_position=0.4068 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.07999999821186066, -0.17820000648498535, 0.7724999785423279] target=[-0.1988999992609024, -0.16189999878406525, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1296 tracking_error=0.0179 gripper_position=0.1579 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.2054000049829483, -0.1453000009059906, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.15160000324249268, -0.00019999999494757503, 0.0142000000923872] +[collect][auto_swap_T] right_pick label=t1 center=[0.06340000033378601, -0.19789999723434448, 0.7724999785423279] pick_tcp=[0.065700002014637, -0.18809999525547028, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0247 tracking_error=0.0063 gripper_position=0.1441 secured=True +[collect][auto_swap_T] right_stage observed=[0.08789999783039093, -0.19499999284744263, 0.7731000185012817] target=[0.18230000138282776, -0.2142000049352646, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=right_stage waypoints=12 +[collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.0956 tracking_error=0.0009 gripper_position=0.1611 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.18140000104904175, -0.21449999511241913, 0.7731000185012817] lifted=0.0006 ee_to_object_pos=[0.14910000562667847, -9.999999747378752e-05, -0.015599999576807022] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=154.71 +[collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect][auto_swap_T] left_transport step=20 xy=0.1697 z=0.0001 yaw_deg=-154.69 +[collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect][auto_swap_T] left_transport step=40 xy=0.0658 z=0.0002 yaw_deg=-154.87 +[collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect][auto_swap_T] left_transport step=56 xy=0.0045 z=0.0006 yaw_deg=-156.63 +[collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0005 z=0.0001 yaw_deg=-151.58 +[collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect][auto_swap_T] left_rotate step=80 xy=0.0062 z=0.0003 yaw_deg=-120.27 +[collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect][auto_swap_T] left_rotate step=100 xy=0.0006 z=0.0001 yaw_deg=-88.30 +[collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect][auto_swap_T] left_rotate step=120 xy=0.0006 z=0.0002 yaw_deg=-62.37 +[collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect][auto_swap_T] left_rotate step=140 xy=0.0008 z=0.0003 yaw_deg=-35.82 +[collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect][auto_swap_T] left_rotate step=160 xy=0.0029 z=0.0000 yaw_deg=-11.14 +[collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect][auto_swap_T] left_rotate step=169 xy=0.0046 z=0.0000 yaw_deg=-0.39 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect][auto_swap_T] left_align step=175 xy=0.0039 z=0.0004 yaw_deg=-0.48 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect][auto_swap_T] left_release step=176 xy=0.0035 z=0.0003 yaw_deg=-0.43 +[collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect][auto_swap_T] left_release step=179 xy=0.0027 z=0.0040 yaw_deg=-0.74 +[collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect][auto_swap_T] left_release step=180 xy=0.0027 z=0.0040 yaw_deg=-0.74 +[collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect][auto_swap_T] left_feedback released center=[0.061900001019239426, -0.1956000030040741, 0.7724999785423279] quat=[0.7810999751091003, -0.0, -0.0, 0.6244000196456909] +[collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect][auto_swap_T] right_grasp_relation_check error=0.0009 live=[0.14990000426769257, -9.999999747378752e-05, -0.016100000590085983] expected=[0.14910000562667847, -9.999999747378752e-05, -0.015599999576807022] +[collect][auto_swap_T] captured_right_grasp object_center=[0.20520000159740448, -0.2240999937057495, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.14990000426769257, -9.999999747378752e-05, -0.016100000590085983] +[collect][auto_swap_T] right_detour obstacle=[0.06340000033378601, -0.19789999723434448, 0.7724999785423279] waypoint=[0.039400000125169754, -0.37290000915527344, 0.792900025844574] clearance=0.1767 +[collect][auto_swap_T] concurrent_left_home right_waypoints=49 left_home_waypoints=14 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07999999821186066, -0.17820000648498535, 0.7724999785423279] waypoints=49 +[collect][auto_swap_T] phase=right_place waypoints=49 +[collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.29 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect][auto_swap_T] right_align step=2 xy=0.0013 z=0.0040 yaw_deg=-0.07 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect][auto_swap_T] right_release step=3 xy=0.0001 z=0.0014 yaw_deg=-0.16 +[collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect][auto_swap_T] right_feedback released center=[-0.08009999990463257, -0.1785999983549118, 0.7724999785423279] quat=[-0.6517000198364258, 0.0, -0.0, 0.7584999799728394] +[collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, 0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, 0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.15539999306201935, 0.21359999477863312, 0.13300000131130219], 'rot_deg': 93.28, 'real': [0.14499999582767487, -0.1386999934911728, 1.0544999837875366, 0.21490000188350677, -0.5472000241279602, -0.28780001401901245, 0.7559999823570251], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=3 +[collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, -0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, 0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.02969999983906746, 0.12630000710487366, 0.13269999623298645], 'rot_deg': 40.89, 'real': [0.27079999446868896, -0.22599999606609344, 1.0542000532150269, 0.590399980545044, -0.3021000027656555, -0.14259999990463257, 0.7347000241279602], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=2 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.061917, -0.195583, 0.7725], 'quat': [0.781124, -1e-06, -1e-06, 0.624376]}, 't1': {'pos': [-0.080094, -0.178557, 0.7725], 'quat': [-0.651676, 4e-06, -2e-06, 0.758498]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_regv45_seed30_official400.hdf5 +2026-07-24T05:46:13Z [164,568ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T05:46:13Z [164,568ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[164.980s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_regv51_seed8_official400.log b/yzr/swap_T/logs/swap_T_regv51_seed8_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..cf2c786c3518a1946a8a1e2f7fc8ce114cb49879 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_regv51_seed8_official400.log @@ -0,0 +1,904 @@ +[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_140714.log +[0.074s] [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 +[0.253s] [ext: omni.blobkey-1.1.2] startup +[0.253s] [ext: omni.stats-1.0.1] startup +[0.254s] [ext: omni.datastore-0.0.0] startup +[0.261s] [ext: omni.client-1.3.0] startup +[0.267s] [ext: omni.ujitso.default-1.0.0] startup +[0.269s] [ext: omni.hsscclient-1.1.2] startup +[0.307s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.309s] [ext: omni.assets.plugins-0.0.0] startup +[0.310s] [ext: omni.gpu_foundation-0.0.0] startup +[0.318s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T06:07:14Z [291ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:07:14Z [291ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.319s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T06:07:14Z [390ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T06:07:14Z [397ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T06:07:14Z [397ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T06:07:14Z [397ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T06:07:14Z [461ms] [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. +2026-07-24T06:07:16Z [1,904ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T06:07:16Z [1,904ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T06:07:16Z [1,907ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T06:07:16Z [1,907ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T06:07:16Z [1,908ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T06:07:16Z [1,908ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T06:07:16Z [1,909ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T06:07:16Z [1,909ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T06:07:16Z [1,909ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T06:07:16Z [1,909ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T06:07:16Z [1,909ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T06:07:16Z [1,909ms] [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 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 210399 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.797s] [ext: omni.materialx.libs-1.0.7] startup +[2.806s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.807s] [ext: omni.kit.test-2.0.1] startup +[2.850s] [ext: omni.kit.pipapi-0.0.0] startup +[2.851s] [ext: omni.usd.config-1.0.6] startup +[2.854s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.854s] [ext: omni.usd.libs-1.0.1] startup +[2.967s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.967s] [ext: omni.mdl-56.0.3] startup +[2.990s] [ext: omni.iray.libs-0.0.0] startup +[2.997s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.999s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.104s] [ext: omni.kit.telemetry-0.5.2] startup +[3.135s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T06:07:17Z [3,108ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:07:17Z [3,108ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.139s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T06:07:17Z [3,201ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:07:17Z [3,201ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T06:07:17Z [3,212ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:07:17Z [3,212ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.242s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.245s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T06:07:17Z [3,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:07:17Z [3,222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T06:07:17Z [3,223ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:07:17Z [3,223ms] [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) +2026-07-24T06:07:17Z [3,224ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:07:17Z [3,224ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.342s] [ext: omni.ui-2.27.1] startup +[3.353s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.354s] [ext: carb.audio-0.1.0] startup +[3.384s] [ext: omni.uiaudio-1.0.0] startup +[3.385s] [ext: omni.kit.uiapp-0.0.0] startup +[3.385s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.388s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.396s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.400s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.406s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.411s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.442s] [ext: omni.usd_resolver-1.0.0] startup +[3.447s] [ext: omni.usd.core-1.5.3] startup +[3.450s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.479s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.488s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.523s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.524s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.525s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.531s] [ext: omni.graph.exec-0.9.6] startup +[3.531s] [ext: omni.kit.actions.core-1.0.0] startup +[3.533s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.534s] [ext: omni.kit.exec.core-0.13.4] startup +[3.536s] [ext: omni.kit.commands-1.4.10] startup +[3.540s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.544s] [ext: omni.activity.core-1.0.3] startup +[3.545s] [ext: omni.resourcemonitor-107.0.1] startup +[3.547s] [ext: omni.timeline-1.0.14] startup +[3.549s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.552s] [ext: usdrt.scenegraph-7.6.1] startup +[3.597s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.599s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.607s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.613s] [ext: omni.usd-1.13.10] startup +[3.643s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.661s] [ext: omni.index.libs-380600.8087.0] startup +[3.661s] [ext: omni.volume-0.5.2] startup +[3.664s] [ext: omni.ujitso.client-0.0.0] startup +[3.664s] [ext: omni.index-1.0.1] startup +[3.665s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.666s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T06:07:17Z [3,664ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.711s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.713s] [ext: omni.kit.clipboard-1.0.5] startup +[3.714s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.717s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.724s] [ext: omni.kit.menu.core-1.1.2] startup +[3.724s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.727s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.729s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.730s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.731s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.732s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.736s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.737s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.747s] [ext: omni.ui.scene-1.11.5] startup +[3.755s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.755s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.770s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.777s] [ext: omni.kit.context_menu-1.8.6] startup +[3.779s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.785s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.789s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.791s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.792s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.793s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.797s] [ext: omni.kit.material.library-2.0.7] startup +[3.802s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.805s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.807s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.823s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.828s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.842s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.842s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.847s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.852s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.853s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.855s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.857s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.858s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.859s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.865s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.869s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.869s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.872s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.873s] [ext: omni.fabric.commands-1.1.6] startup +[3.878s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.879s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.881s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.882s] [ext: omni.debugdraw-0.1.4] startup +[3.887s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.899s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.900s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.900s] [ext: omni.kvdb-107.3.26] startup +[3.901s] [ext: omni.convexdecomposition-107.3.26] startup +[3.905s] [ext: omni.physx.foundation-107.3.26] startup +[3.907s] [ext: omni.localcache-107.3.26] startup +[3.908s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.909s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.910s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.910s] [ext: omni.usdphysics-107.3.26] startup +[3.913s] [ext: omni.kit.window.file-2.0.5] startup +[3.916s] [ext: omni.physx.cooking-107.3.26] startup +[3.920s] [ext: omni.physics-107.3.26] startup +[3.923s] [ext: omni.kit.window.property-1.12.1] startup +[3.926s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.938s] [ext: omni.physx-107.3.26] startup +[3.951s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.953s] [ext: omni.kit.property.usd-4.5.12] startup +[3.964s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.965s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T06:07:18Z [3,939ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.967s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.968s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.981s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.990s] [ext: omni.inspect-1.0.2] startup +[3.991s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.005s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.006s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.014s] [ext: omni.graph.core-2.184.5] startup +[4.018s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.019s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.048s] [ext: omni.physx.commands-107.3.26] startup +[4.053s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.054s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T06:07:18Z [4,032ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.061s] [ext: omni.physx.ui-107.3.26] startup +[4.094s] [ext: isaacsim.core.version-2.0.6] startup +[4.094s] [ext: omni.physics.tensors-107.3.26] startup +[4.100s] [ext: omni.warp.core-1.8.2] startup +[4.300s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.302s] [ext: isaacsim.storage.native-1.5.1] startup +[4.304s] [ext: omni.physx.tensors-107.3.26] startup +[4.335s] [ext: isaacsim.core.utils-3.5.1] startup +[4.340s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.994s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.997s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.999s] [ext: omni.kit.window.stage-2.6.1] startup +[6.003s] [ext: omni.kit.menu.create-2.0.1] startup +[6.005s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.011s] [ext: omni.kit.scripting-107.3.2] startup +[6.015s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.019s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.020s] [ext: omni.graph.tools-1.79.2] startup +[6.042s] [ext: omni.ui_query-1.1.8] startup +[6.043s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.043s] [ext: omni.graph-1.141.2] startup +[6.086s] [ext: omni.graph.action_core-1.1.7] startup +[6.088s] [ext: omni.kit.ui_test-1.3.7] startup +[6.093s] [ext: omni.kit.browser.core-2.3.13] startup +[6.098s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.104s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.109s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.114s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.125s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.133s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.147s] [ext: omni.graph.action-1.130.0] startup +[6.151s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.161s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.169s] [ext: isaacsim.gui.components-1.2.1] startup +[6.176s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.188s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.372s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.380s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.386s] [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( +[6.472s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T06:07:20Z [6,453ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.485s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.485s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.492s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.499s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.501s] [ext: omni.graph.image.core-0.6.1] startup +[6.503s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.504s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.506s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.510s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.513s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.516s] [ext: omni.graph.nodes-1.170.10] startup +[6.535s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.540s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.549s] [ext: omni.syntheticdata-0.6.13] startup +[6.634s] [ext: omni.videoencoding-0.1.2] startup +[6.638s] [ext: omni.warp-1.8.2] startup +[6.649s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.717s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.726s] [ext: isaacsim.core.prims-0.6.1] startup +[6.768s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.778s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T06:07:21Z [7,038ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T06:07:21Z [7,038ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T06:07:21Z [7,039ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.072s] [ext: isaacsim.core.api-4.8.0] startup +[7.095s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.151s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.164s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.175s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.184s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.202s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.215s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.237s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.246s] [ext: omni.sensors.net-1.0.0] startup +[7.260s] [ext: isaacsim.app.about-2.0.11] startup +[7.266s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.267s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.272s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.288s] [ext: omni.kit.property.audio-1.0.16] startup +[7.307s] [ext: omni.kit.property.camera-1.0.10] startup +[7.318s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.338s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.359s] [ext: omni.kit.property.light-1.0.12] startup +[7.410s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.421s] [ext: omni.kit.selection-0.1.6] startup +[7.428s] [ext: omni.kit.property.material-1.11.9] startup +[7.472s] [ext: omni.kit.property.transform-1.5.13] startup +[7.489s] [ext: omni.kit.property.render-1.2.1] startup +[7.496s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.503s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.613s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.636s] [ext: isaacsim.gui.property-1.1.3] startup +[7.665s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.681s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.724s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.973s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.232s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.248s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.269s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.279s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.283s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.300s] [ext: omni.kit.window.console-1.1.4] startup +[8.319s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.336s] [ext: omni.ocio-0.1.1] startup +[8.340s] [ext: omni.physx.demos-107.3.26] startup +[8.390s] [ext: omni.kit.property.physx-107.3.26] startup +[8.428s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.445s] [ext: omni.asset_validator.core-1.1.6] startup +[8.513s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.518s] [ext: omni.physx.vehicle-107.3.26] startup +[8.537s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.549s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.553s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.559s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.568s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.577s] [ext: omni.physx.camera-107.3.26] startup +[8.590s] [ext: omni.anim.curve.core-1.3.1] startup +[8.607s] [ext: omni.physx.cct-107.3.26] startup +[8.627s] [ext: omni.physx.graph-107.3.26] startup +[8.650s] [ext: omni.physx.supportui-107.3.26] startup +[8.680s] [ext: omni.physx.telemetry-107.3.26] startup +[8.688s] [ext: isaaclab-0.54.3] startup +[8.947s] [ext: isaaclab_contrib-0.0.2] startup +[8.950s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.952s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.957s] [ext: semantics.schema.property-2.0.1] startup +[8.961s] [ext: omni.physx.bundle-107.3.26] startup +[8.962s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.968s] [ext: isaaclab_assets-0.2.4] startup +[9.270s] [ext: isaaclab_tasks-0.11.14] startup +[9.435s] [ext: omni.kit.menu.common-2.0.1] startup +[9.438s] [ext: isaaclab_rl-0.5.0] startup +[9.440s] [ext: isaaclab_mimic-1.0.16] startup +[9.441s] [ext: isaaclab.python-2.3.2] startup +[9.444s] Simulation App Starting +2026-07-24T06:07:23Z [9,494ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T06:07:23Z [9,499ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T06:07:23Z [9,499ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T06:07:23Z [9,499ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T06:07:23Z [9,528ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.585s] app ready +2026-07-24T06:07:24Z [10,479ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T06:07:24Z [10,479ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T06:07:24Z [10,479ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T06:07:24Z [10,479ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.980s] 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=8 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=8 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_14-07-48.log +====================================================================================== + +14:07:48 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 8 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T06:07:48Z [34,316ms] [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 +2026-07-24T06:07:48Z [34,427ms] [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. +2026-07-24T06:07:48Z [34,444ms] [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. +2026-07-24T06:07:48Z [34,456ms] [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 : 0.481310 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T06:07:48Z [34,474ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +2026-07-24T06:07:48Z [34,481ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +2026-07-24T06:07:49Z [34,977ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +2026-07-24T06:07:49Z [34,977ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +2026-07-24T06:07:49Z [34,980ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +2026-07-24T06:07:49Z [34,981ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +2026-07-24T06:07:49Z [34,981ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +2026-07-24T06:07:49Z [34,981ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55f68fff92c0:World0.usd@ <0x55f68fffa2c0>) + +[INFO]: Time taken for simulation start : 0.751122 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T06:07:59Z [45,139ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T06:07:59Z [45,616ms] [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 +2026-07-24T06:07:59Z [45,616ms] [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 +2026-07-24T06:07:59Z [45,616ms] [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 +2026-07-24T06:07:59Z [45,616ms] [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 +2026-07-24T06:08:11Z [57,143ms] [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=8 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.06138300150632858, -0.1962520033121109, 0.7724999785423279], 'quat': [0.8885279893875122, 0.0, 9.999999974752427e-07, -0.45882299542427063]}, 't1': {'center': [0.0647599995136261, -0.18549999594688416, 0.7724999785423279], 'quat': [0.9770640134811401, 9.999999974752427e-07, 0.0, 0.21294599771499634]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.061400000005960464, -0.19629999995231628, 0.7724999785423279] pick_tcp=[-0.05559999868273735, -0.20440000295639038, 0.7724999785423279] waypoints=32 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0108 tracking_error=0.0145 gripper_position=0.3855 secured=True +[collect][auto_swap_T] left_stage observed=[-0.0722000002861023, -0.19509999454021454, 0.7724999785423279] target=[-0.1808999925851822, -0.20640000700950623, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1106 tracking_error=0.0045 gripper_position=0.1471 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.18250000476837158, -0.2021999955177307, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.1509999930858612, -0.0008999999845400453, 0.012900000438094139] +[collect][auto_swap_T] right_pick label=t1 center=[0.06480000168085098, -0.18549999594688416, 0.7724999785423279] pick_tcp=[0.0738999992609024, -0.18129999935626984, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0189 tracking_error=0.0078 gripper_position=0.1043 secured=True +[collect][auto_swap_T] right_stage observed=[0.08349999785423279, -0.18809999525547028, 0.7739999890327454] target=[0.1843000054359436, -0.1753000020980835, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.0997 tracking_error=0.0025 gripper_position=0.1577 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.18219999969005585, -0.17399999499320984, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.1492999941110611, -0.0003000000142492354, -0.012199999764561653] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=109.60 +[collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect][auto_swap_T] left_transport step=20 xy=0.1499 z=0.0001 yaw_deg=109.61 +[collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect][auto_swap_T] left_transport step=40 xy=0.0473 z=0.0002 yaw_deg=109.29 +[collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect][auto_swap_T] left_transport step=49 xy=0.0013 z=0.0002 yaw_deg=109.06 +[collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect][auto_swap_T] left_rotate step=60 xy=0.0020 z=0.0001 yaw_deg=91.93 +[collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect][auto_swap_T] left_rotate step=80 xy=0.0010 z=0.0003 yaw_deg=66.73 +[collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect][auto_swap_T] left_rotate step=100 xy=0.0004 z=0.0002 yaw_deg=40.55 +[collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect][auto_swap_T] left_rotate step=120 xy=0.0006 z=0.0001 yaw_deg=14.67 +[collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect][auto_swap_T] left_rotate step=131 xy=0.0005 z=0.0002 yaw_deg=0.33 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect][auto_swap_T] left_align step=132 xy=0.0013 z=0.0004 yaw_deg=0.04 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect][auto_swap_T] left_release step=133 xy=0.0008 z=0.0003 yaw_deg=-0.08 +[collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect][auto_swap_T] left_feedback released center=[0.06459999829530716, -0.18529999256134033, 0.7724999785423279] quat=[0.9767000079154968, -0.0, -0.0, 0.21449999511241913] +[collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect][auto_swap_T] right_grasp_relation_check error=0.0007 live=[0.14959999918937683, 0.0, -0.01269999984651804] expected=[0.1492999941110611, -0.0003000000142492354, -0.012199999764561653] +[collect][auto_swap_T] captured_right_grasp object_center=[0.1898999959230423, -0.1581999957561493, 0.7742999792098999] lifted=0.0018 ee_to_object_pos=[0.14959999918937683, 0.0, -0.01269999984651804] +[collect][auto_swap_T] right_overpass obstacle=[0.06480000168085098, -0.18549999594688416, 0.7724999785423279] lift=0.0750 +[collect][auto_swap_T] concurrent_left_home right_waypoints=60 left_home_waypoints=8 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.061400000005960464, -0.19629999995231628, 0.7724999785423279] waypoints=60 +[collect][auto_swap_T] phase=right_place waypoints=60 +[collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect][auto_swap_T] concurrent_left_home right_waypoints=38 left_home_waypoints=1 +[collect][auto_swap_T] right_table_regrasp object=[-0.01940000057220459, -0.28130000829696655, 0.7724999785423279] waypoints=38 +[collect][auto_swap_T] right_transport_retry attempt=1 xy=0.0949 yaw_deg=82.69 +[collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect][auto_swap_T] captured_right_grasp object_center=[-0.027499999850988388, -0.2957000136375427, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.14990000426769257, -0.00860000029206276, 0.00989999994635582] +[collect][auto_swap_T] right_overpass obstacle=[0.06480000168085098, -0.18549999594688416, 0.7724999785423279] lift=0.0750 +[collect][auto_swap_T] concurrent_left_home right_waypoints=36 left_home_waypoints=1 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.061400000005960464, -0.19629999995231628, 0.7724999785423279] waypoints=36 +[collect][auto_swap_T] phase=right_place waypoints=36 +[collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect] demo=0 step=362/400 +env0 step: 362 / 400 [collect] demo=0 step=363/400 +env0 step: 363 / 400 [collect] demo=0 step=364/400 +env0 step: 364 / 400 [collect] demo=0 step=365/400 +env0 step: 365 / 400 [collect] demo=0 step=366/400 +env0 step: 366 / 400 [collect] demo=0 step=367/400 +env0 step: 367 / 400 [collect] demo=0 step=368/400 +env0 step: 368 / 400 [collect] demo=0 step=369/400 +env0 step: 369 / 400 [collect] demo=0 step=370/400 +env0 step: 370 / 400 [collect] demo=0 step=371/400 +env0 step: 371 / 400 [collect] demo=0 step=372/400 +env0 step: 372 / 400 [collect] demo=0 step=373/400 +env0 step: 373 / 400 [collect] demo=0 step=374/400 +env0 step: 374 / 400 [collect] demo=0 step=375/400 +env0 step: 375 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.42 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=376/400 +env0 step: 376 / 400 [collect] demo=0 step=377/400 +env0 step: 377 / 400 [collect] demo=0 step=378/400 +env0 step: 378 / 400 [collect][auto_swap_T] right_align step=4 xy=0.0005 z=0.0003 yaw_deg=-0.03 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=379/400 +env0 step: 379 / 400 [collect][auto_swap_T] right_release step=5 xy=0.0002 z=0.0004 yaw_deg=-0.00 +[collect] demo=0 step=380/400 +env0 step: 380 / 400 [collect] demo=0 step=381/400 +env0 step: 381 / 400 [collect] demo=0 step=382/400 +env0 step: 382 / 400 [collect] demo=0 step=383/400 +env0 step: 383 / 400 [collect] demo=0 step=384/400 +env0 step: 384 / 400 [collect][auto_swap_T] right_feedback released center=[-0.061500001698732376, -0.19670000672340393, 0.7724999785423279] quat=[0.8884999752044678, -0.0, 0.0, -0.45890000462532043] +[collect] demo=0 step=385/400 +env0 step: 385 / 400 [collect] demo=0 step=386/400 +env0 step: 386 / 400 [collect] demo=0 step=387/400 +env0 step: 387 / 400 [collect] demo=0 step=388/400 +env0 step: 388 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, 0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, -0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.18050000071525574, 0.1923000067472458, 0.09210000187158585], 'rot_deg': 58.58, 'real': [0.11990000307559967, -0.1599999964237213, 1.0135999917984009, 0.5023999810218811, -0.4147999882698059, 0.2029999941587448, 0.7310000061988831], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=389/400 +env0 step: 389 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=390/400 +env0 step: 390 / 400 [collect] demo=0 step=391/400 +env0 step: 391 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, -0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, 0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.07419999688863754, 0.15839999914169312, 0.10419999808073044], 'rot_deg': 34.97, 'real': [0.22619999945163727, -0.193900004029274, 1.0256999731063843, 0.6075999736785889, -0.23559999465942383, 0.1607999950647354, 0.7412999868392944], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=2 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=392/400 +env0 step: 392 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=393/400 +env0 step: 393 / 400 [collect] demo=0 step=394/400 +env0 step: 394 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, 0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, -0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.009999999776482582, 0.08860000222921371, 0.07010000199079514], 'rot_deg': 21.89, 'real': [0.2904999852180481, -0.263700008392334, 0.991599977016449, 0.6802999973297119, -0.13830000162124634, 0.12860000133514404, 0.7081999778747559], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=3 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=395/400 +env0 step: 395 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=1 +[collect] demo=0 step=396/400 +env0 step: 396 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=397/400 +env0 step: 397 / 400 [collect] demo=0 step=398/400 +env0 step: 398 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.064587, -0.185325, 0.7725], 'quat': [0.976725, -1e-06, -1e-06, 0.214497]}, 't1': {'pos': [-0.061452, -0.196678, 0.7725], 'quat': [0.888481, -2e-06, 1e-06, -0.458914]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_regv51_seed8_official400.hdf5 +2026-07-24T06:10:09Z [174,919ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T06:10:09Z [174,919ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[175.354s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_regv65_seed19_official400.log b/yzr/swap_T/logs/swap_T_regv65_seed19_official400.log new file mode 100644 index 0000000000000000000000000000000000000000..3fec93deabb6e9289dd34ee9a4cc7fc7c71935c3 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_regv65_seed19_official400.log @@ -0,0 +1,870 @@ +[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_152843.log +[0.070s] [ext: omni.kit.async_engine-0.0.3] startup +[0.223s] [ext: omni.metrics.core-0.0.3] startup +[0.224s] [ext: omni.client.lib-1.1.0] startup +[0.241s] [ext: omni.blobkey-1.1.2] startup +[0.241s] [ext: omni.stats-1.0.1] startup +[0.242s] [ext: omni.datastore-0.0.0] startup +[0.248s] [ext: omni.client-1.3.0] startup +[0.254s] [ext: omni.ujitso.default-1.0.0] startup +[0.256s] [ext: omni.hsscclient-1.1.2] startup +[0.278s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.281s] [ext: omni.assets.plugins-0.0.0] startup +[0.283s] [ext: omni.gpu_foundation-0.0.0] startup +[0.290s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-24T07:28:44Z [261ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:28:44Z [261ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.291s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-24T07:28:44Z [352ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-24T07:28:44Z [359ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-24T07:28:44Z [359ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-24T07:28:44Z [359ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-24T07:28:44Z [428ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3969.71 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. +2026-07-24T07:28:44Z [1,047ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T07:28:44Z [1,047ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T07:28:44Z [1,047ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T07:28:44Z [1,047ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T07:28:44Z [1,048ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T07:28:44Z [1,048ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T07:28:44Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T07:28:44Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T07:28:44Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T07:28:44Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-24T07:28:44Z [1,049ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-24T07:28:44Z [1,049ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. + +|---------------------------------------------------------------------------------------------| +| Driver Version: 580.76.05 | Graphics API: Vulkan +|=============================================================================================| +| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | +| | | | | | Device-ID | UUID | +| | | | | | Bus-ID | | +|---------------------------------------------------------------------------------------------| +| 0 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 39e1d745.. | +| | | | | | 49 | | +|---------------------------------------------------------------------------------------------| +| 1 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | 04e513b0.. | +| | | | | | 98 | | +|---------------------------------------------------------------------------------------------| +| 2 | NVIDIA GeForce RTX 5090 | | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | f11f4483.. | +| | | | | | a8 | | +|---------------------------------------------------------------------------------------------| +| 3 | NVIDIA GeForce RTX 5090 | Yes: 0 | | 32853 MB | 10de | 0 | +| | | | | | 2b85 | a151c906.. | +| | | | | | b8 | | +|=============================================================================================| +| 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: 164990 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.932s] [ext: omni.materialx.libs-1.0.7] startup +[1.942s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.943s] [ext: omni.kit.test-2.0.1] startup +[1.988s] [ext: omni.kit.pipapi-0.0.0] startup +[1.988s] [ext: omni.usd.config-1.0.6] startup +[1.992s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.992s] [ext: omni.usd.libs-1.0.1] startup +[2.104s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.104s] [ext: omni.mdl-56.0.3] startup +[2.127s] [ext: omni.iray.libs-0.0.0] startup +[2.133s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.135s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.237s] [ext: omni.kit.telemetry-0.5.2] startup +[2.275s] [ext: omni.appwindow-1.1.10] startup +2026-07-24T07:28:46Z [2,247ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:28:46Z [2,247ms] [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) +[2.279s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-24T07:28:46Z [2,266ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:28:46Z [2,266ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T07:28:46Z [2,275ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:28:46Z [2,275ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.306s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.308s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-24T07:28:46Z [2,283ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:28:46Z [2,283ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T07:28:46Z [2,285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:28:46Z [2,285ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-24T07:28:46Z [2,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:28:46Z [2,287ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.416s] [ext: omni.ui-2.27.1] startup +[2.429s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.431s] [ext: carb.audio-0.1.0] startup +[2.464s] [ext: omni.uiaudio-1.0.0] startup +[2.465s] [ext: omni.kit.uiapp-0.0.0] startup +[2.465s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.468s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.475s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.478s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.482s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.485s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.509s] [ext: omni.usd_resolver-1.0.0] startup +[2.513s] [ext: omni.usd.core-1.5.3] startup +[2.517s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.541s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.550s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.584s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.585s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.585s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.591s] [ext: omni.graph.exec-0.9.6] startup +[2.591s] [ext: omni.kit.actions.core-1.0.0] startup +[2.594s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.594s] [ext: omni.kit.exec.core-0.13.4] startup +[2.596s] [ext: omni.kit.commands-1.4.10] startup +[2.599s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.603s] [ext: omni.activity.core-1.0.3] startup +[2.604s] [ext: omni.resourcemonitor-107.0.1] startup +[2.606s] [ext: omni.timeline-1.0.14] startup +[2.608s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.610s] [ext: usdrt.scenegraph-7.6.1] startup +[2.650s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.651s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.660s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.666s] [ext: omni.usd-1.13.10] startup +[2.696s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.710s] [ext: omni.index.libs-380600.8087.0] startup +[2.711s] [ext: omni.volume-0.5.2] startup +[2.714s] [ext: omni.ujitso.client-0.0.0] startup +[2.714s] [ext: omni.index-1.0.1] startup +[2.715s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.716s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-24T07:28:46Z [2,710ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.759s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.761s] [ext: omni.kit.clipboard-1.0.5] startup +[2.762s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.765s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.772s] [ext: omni.kit.menu.core-1.1.2] startup +[2.773s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.776s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.777s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.778s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.779s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.780s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.784s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.785s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.795s] [ext: omni.ui.scene-1.11.5] startup +[2.800s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.800s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.816s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.823s] [ext: omni.kit.context_menu-1.8.6] startup +[2.825s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.831s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.835s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.837s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.838s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.839s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.843s] [ext: omni.kit.material.library-2.0.7] startup +[2.848s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.851s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.853s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.870s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.876s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.882s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.882s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.889s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.893s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.894s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.896s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.898s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.898s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.899s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.906s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.909s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.910s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.912s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.913s] [ext: omni.fabric.commands-1.1.6] startup +[2.916s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.917s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.919s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.920s] [ext: omni.debugdraw-0.1.4] startup +[2.924s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.936s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.937s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.937s] [ext: omni.kvdb-107.3.26] startup +[2.938s] [ext: omni.convexdecomposition-107.3.26] startup +[2.942s] [ext: omni.physx.foundation-107.3.26] startup +[2.944s] [ext: omni.localcache-107.3.26] startup +[2.945s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.946s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.946s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.947s] [ext: omni.usdphysics-107.3.26] startup +[2.951s] [ext: omni.kit.window.file-2.0.5] startup +[2.955s] [ext: omni.physx.cooking-107.3.26] startup +[2.959s] [ext: omni.physics-107.3.26] startup +[2.962s] [ext: omni.kit.window.property-1.12.1] startup +[2.965s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.980s] [ext: omni.physx-107.3.26] startup +[2.992s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.994s] [ext: omni.kit.property.usd-4.5.12] startup +[3.005s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.006s] [ext: omni.physics.physx-107.3.26] startup +2026-07-24T07:28:46Z [2,980ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.010s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.011s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.027s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.031s] [ext: omni.inspect-1.0.2] startup +[3.033s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.044s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.045s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.053s] [ext: omni.graph.core-2.184.5] startup +[3.057s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.059s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.090s] [ext: omni.physx.commands-107.3.26] startup +[3.094s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.095s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-24T07:28:46Z [3,075ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.105s] [ext: omni.physx.ui-107.3.26] startup +[3.141s] [ext: isaacsim.core.version-2.0.6] startup +[3.142s] [ext: omni.physics.tensors-107.3.26] startup +[3.147s] [ext: omni.warp.core-1.8.2] startup +[3.352s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.354s] [ext: isaacsim.storage.native-1.5.1] startup +[3.356s] [ext: omni.physx.tensors-107.3.26] startup +[3.362s] [ext: isaacsim.core.utils-3.5.1] startup +[3.366s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.853s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.857s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.859s] [ext: omni.kit.window.stage-2.6.1] startup +[4.867s] [ext: omni.kit.menu.create-2.0.1] startup +[4.868s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.875s] [ext: omni.kit.scripting-107.3.2] startup +[4.879s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.883s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.884s] [ext: omni.graph.tools-1.79.2] startup +[4.906s] [ext: omni.ui_query-1.1.8] startup +[4.907s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.908s] [ext: omni.graph-1.141.2] startup +[4.953s] [ext: omni.graph.action_core-1.1.7] startup +[4.955s] [ext: omni.kit.ui_test-1.3.7] startup +[4.959s] [ext: omni.kit.browser.core-2.3.13] startup +[4.964s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.969s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.974s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.980s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.996s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.002s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.020s] [ext: omni.graph.action-1.130.0] startup +[5.024s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.032s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.049s] [ext: isaacsim.gui.components-1.2.1] startup +[5.065s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.083s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.231s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.235s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.242s] [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( +[5.313s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-24T07:28:49Z [5,293ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.324s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.325s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.330s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.338s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.340s] [ext: omni.graph.image.core-0.6.1] startup +[5.343s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.344s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.346s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.348s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.351s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.352s] [ext: omni.graph.nodes-1.170.10] startup +[5.365s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.371s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.374s] [ext: omni.syntheticdata-0.6.13] startup +[5.406s] [ext: omni.videoencoding-0.1.2] startup +[5.411s] [ext: omni.warp-1.8.2] startup +[5.418s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.442s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.446s] [ext: isaacsim.core.prims-0.6.1] startup +[5.528s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.546s] [ext: omni.replicator.core-1.12.27] startup +2026-07-24T07:28:49Z [5,713ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-24T07:28:49Z [5,713ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-24T07:28:49Z [5,716ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.752s] [ext: isaacsim.core.api-4.8.0] startup +[5.860s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.003s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.026s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.044s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.058s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.102s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.137s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.181s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.199s] [ext: omni.sensors.net-1.0.0] startup +[6.216s] [ext: isaacsim.app.about-2.0.11] startup +[6.228s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.230s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.235s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.251s] [ext: omni.kit.property.audio-1.0.16] startup +[6.263s] [ext: omni.kit.property.camera-1.0.10] startup +[6.270s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.315s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.365s] [ext: omni.kit.property.light-1.0.12] startup +[6.423s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.427s] [ext: omni.kit.selection-0.1.6] startup +[6.438s] [ext: omni.kit.property.material-1.11.9] startup +[6.645s] [ext: omni.kit.property.transform-1.5.13] startup +[6.919s] [ext: omni.kit.property.render-1.2.1] startup +[6.933s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.938s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.965s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.981s] [ext: isaacsim.gui.property-1.1.3] startup +[6.996s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.008s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.024s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.054s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.111s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.127s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.147s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.157s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.162s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.178s] [ext: omni.kit.window.console-1.1.4] startup +[7.191s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.203s] [ext: omni.ocio-0.1.1] startup +[7.210s] [ext: omni.physx.demos-107.3.26] startup +[7.300s] [ext: omni.kit.property.physx-107.3.26] startup +[7.340s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.371s] [ext: omni.asset_validator.core-1.1.6] startup +[7.471s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.480s] [ext: omni.physx.vehicle-107.3.26] startup +[7.503s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.516s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.523s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.532s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.547s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.555s] [ext: omni.physx.camera-107.3.26] startup +[7.572s] [ext: omni.anim.curve.core-1.3.1] startup +[7.595s] [ext: omni.physx.cct-107.3.26] startup +[7.615s] [ext: omni.physx.graph-107.3.26] startup +[7.641s] [ext: omni.physx.supportui-107.3.26] startup +[7.675s] [ext: omni.physx.telemetry-107.3.26] startup +[7.691s] [ext: isaaclab-0.54.3] startup +[8.007s] [ext: isaaclab_contrib-0.0.2] startup +[8.010s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.012s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.017s] [ext: semantics.schema.property-2.0.1] startup +[8.021s] [ext: omni.physx.bundle-107.3.26] startup +[8.025s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.030s] [ext: isaaclab_assets-0.2.4] startup +[8.332s] [ext: isaaclab_tasks-0.11.14] startup +[8.496s] [ext: omni.kit.menu.common-2.0.1] startup +[8.499s] [ext: isaaclab_rl-0.5.0] startup +[8.502s] [ext: isaaclab_mimic-1.0.16] startup +[8.504s] [ext: isaaclab.python-2.3.2] startup +[8.509s] Simulation App Starting +2026-07-24T07:28:52Z [8,561ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-24T07:28:52Z [8,566ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-24T07:28:52Z [8,566ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-24T07:28:52Z [8,566ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-24T07:28:52Z [8,597ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[8.662s] app ready +2026-07-24T07:28:52Z [9,159ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-24T07:28:52Z [9,159ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-24T07:28:52Z [9,159ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-24T07:28:52Z [9,159ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[12.376s] 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=19 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=19 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_15-29-14.log +====================================================================================== + +15:29:14 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 19 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-24T07:29:14Z [30,946ms] [Warning] [env.scene_manager.objects.background] `/omni/replicator/RTSubframes` must be > 3 to avoid blank textures while randomizing dome light texture. RTSubframes has been automatically increased from None to 3 +2026-07-24T07:29:14Z [31,048ms] [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. +2026-07-24T07:29:14Z [31,066ms] [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. +2026-07-24T07:29:14Z [31,078ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.450019 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-24T07:29:14Z [31,093ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +2026-07-24T07:29:14Z [31,100ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +2026-07-24T07:29:15Z [31,673ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +2026-07-24T07:29:15Z [31,673ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +2026-07-24T07:29:15Z [31,676ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +2026-07-24T07:29:15Z [31,676ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +2026-07-24T07:29:15Z [31,676ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +2026-07-24T07:29:15Z [31,677ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x561794bd7390:World0.usd@ <0x561794bd8390>) + +[INFO]: Time taken for simulation start : 0.810007 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-24T07:29:25Z [41,271ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-24T07:29:25Z [41,583ms] [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 +2026-07-24T07:29:25Z [41,583ms] [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 +2026-07-24T07:29:25Z [41,583ms] [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 +2026-07-24T07:29:25Z [41,583ms] [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 +2026-07-24T07:29:36Z [52,939ms] [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=19 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07696299999952316, -0.1694449931383133, 0.7724999785423279], 'quat': [0.8135110139846802, 0.0, -0.0, 0.5815489888191223]}, 't1': {'center': [0.06464000046253204, -0.18606799840927124, 0.7724999785423279], 'quat': [0.9849929809570312, 9.999999974752427e-07, -0.0, -0.17259199917316437]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07699999958276749, -0.16940000653266907, 0.7724999785423279] pick_tcp=[-0.07370000332593918, -0.1599999964237213, 0.7724999785423279] waypoints=33 +[collect] demo=0 step=1/400 +env0 step: 1 / 400 [collect] demo=0 step=2/400 +env0 step: 2 / 400 [collect] demo=0 step=3/400 +env0 step: 3 / 400 [collect] demo=0 step=4/400 +env0 step: 4 / 400 [collect] demo=0 step=5/400 +env0 step: 5 / 400 [collect] demo=0 step=6/400 +env0 step: 6 / 400 [collect] demo=0 step=7/400 +env0 step: 7 / 400 [collect] demo=0 step=8/400 +env0 step: 8 / 400 [collect] demo=0 step=9/400 +env0 step: 9 / 400 [collect] demo=0 step=10/400 +env0 step: 10 / 400 [collect] demo=0 step=11/400 +env0 step: 11 / 400 [collect] demo=0 step=12/400 +env0 step: 12 / 400 [collect] demo=0 step=13/400 +env0 step: 13 / 400 [collect] demo=0 step=14/400 +env0 step: 14 / 400 [collect] demo=0 step=15/400 +env0 step: 15 / 400 [collect] demo=0 step=16/400 +env0 step: 16 / 400 [collect] demo=0 step=17/400 +env0 step: 17 / 400 [collect] demo=0 step=18/400 +env0 step: 18 / 400 [collect] demo=0 step=19/400 +env0 step: 19 / 400 [collect] demo=0 step=20/400 +env0 step: 20 / 400 [collect] demo=0 step=21/400 +env0 step: 21 / 400 [collect] demo=0 step=22/400 +env0 step: 22 / 400 [collect] demo=0 step=23/400 +env0 step: 23 / 400 [collect] demo=0 step=24/400 +env0 step: 24 / 400 [collect] demo=0 step=25/400 +env0 step: 25 / 400 [collect] demo=0 step=26/400 +env0 step: 26 / 400 [collect] demo=0 step=27/400 +env0 step: 27 / 400 [collect] demo=0 step=28/400 +env0 step: 28 / 400 [collect] demo=0 step=29/400 +env0 step: 29 / 400 [collect] demo=0 step=30/400 +env0 step: 30 / 400 [collect] demo=0 step=31/400 +env0 step: 31 / 400 [collect] demo=0 step=32/400 +env0 step: 32 / 400 [collect] demo=0 step=33/400 +env0 step: 33 / 400 [collect][auto_swap_T] left_pickup_verify displacement=0.0069 tracking_error=0.0205 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.08139999955892563, -0.16419999301433563, 0.7724999785423279] target=[-0.19609999656677246, -0.15549999475479126, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=34/400 +env0 step: 34 / 400 [collect] demo=0 step=35/400 +env0 step: 35 / 400 [collect] demo=0 step=36/400 +env0 step: 36 / 400 [collect] demo=0 step=37/400 +env0 step: 37 / 400 [collect] demo=0 step=38/400 +env0 step: 38 / 400 [collect] demo=0 step=39/400 +env0 step: 39 / 400 [collect] demo=0 step=40/400 +env0 step: 40 / 400 [collect] demo=0 step=41/400 +env0 step: 41 / 400 [collect] demo=0 step=42/400 +env0 step: 42 / 400 [collect] demo=0 step=43/400 +env0 step: 43 / 400 [collect] demo=0 step=44/400 +env0 step: 44 / 400 [collect] demo=0 step=45/400 +env0 step: 45 / 400 [collect] demo=0 step=46/400 +env0 step: 46 / 400 [collect] demo=0 step=47/400 +env0 step: 47 / 400 [collect][auto_swap_T] left_stage_verify displacement=0.1264 tracking_error=0.0157 gripper_position=0.1592 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.20600000023841858, -0.14329999685287476, 0.772599995136261] lifted=0.0001 ee_to_object_pos=[0.1500999927520752, -0.00019999999494757503, -0.007000000216066837] +[collect][auto_swap_T] right_pick label=t1 center=[0.06459999829530716, -0.18610000610351562, 0.7724999785423279] pick_tcp=[0.07400000095367432, -0.18950000405311584, 0.7724999785423279] waypoints=32 +[collect][auto_swap_T] phase=right_pick waypoints=32 +[collect] demo=0 step=48/400 +env0 step: 48 / 400 [collect] demo=0 step=49/400 +env0 step: 49 / 400 [collect] demo=0 step=50/400 +env0 step: 50 / 400 [collect] demo=0 step=51/400 +env0 step: 51 / 400 [collect] demo=0 step=52/400 +env0 step: 52 / 400 [collect] demo=0 step=53/400 +env0 step: 53 / 400 [collect] demo=0 step=54/400 +env0 step: 54 / 400 [collect] demo=0 step=55/400 +env0 step: 55 / 400 [collect] demo=0 step=56/400 +env0 step: 56 / 400 [collect] demo=0 step=57/400 +env0 step: 57 / 400 [collect] demo=0 step=58/400 +env0 step: 58 / 400 [collect] demo=0 step=59/400 +env0 step: 59 / 400 [collect] demo=0 step=60/400 +env0 step: 60 / 400 [collect] demo=0 step=61/400 +env0 step: 61 / 400 [collect] demo=0 step=62/400 +env0 step: 62 / 400 [collect] demo=0 step=63/400 +env0 step: 63 / 400 [collect] demo=0 step=64/400 +env0 step: 64 / 400 [collect] demo=0 step=65/400 +env0 step: 65 / 400 [collect] demo=0 step=66/400 +env0 step: 66 / 400 [collect] demo=0 step=67/400 +env0 step: 67 / 400 [collect] demo=0 step=68/400 +env0 step: 68 / 400 [collect] demo=0 step=69/400 +env0 step: 69 / 400 [collect] demo=0 step=70/400 +env0 step: 70 / 400 [collect] demo=0 step=71/400 +env0 step: 71 / 400 [collect] demo=0 step=72/400 +env0 step: 72 / 400 [collect] demo=0 step=73/400 +env0 step: 73 / 400 [collect] demo=0 step=74/400 +env0 step: 74 / 400 [collect] demo=0 step=75/400 +env0 step: 75 / 400 [collect] demo=0 step=76/400 +env0 step: 76 / 400 [collect] demo=0 step=77/400 +env0 step: 77 / 400 [collect] demo=0 step=78/400 +env0 step: 78 / 400 [collect] demo=0 step=79/400 +env0 step: 79 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0000 tracking_error=0.0250 gripper_position=0.6672 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.06459999829530716, -0.18610000610351562, 0.7724999785423279] target=[0.18379999697208405, -0.20010000467300415, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=80/400 +env0 step: 80 / 400 [collect] demo=0 step=81/400 +env0 step: 81 / 400 [collect] demo=0 step=82/400 +env0 step: 82 / 400 [collect] demo=0 step=83/400 +env0 step: 83 / 400 [collect] demo=0 step=84/400 +env0 step: 84 / 400 [collect] demo=0 step=85/400 +env0 step: 85 / 400 [collect] demo=0 step=86/400 +env0 step: 86 / 400 [collect] demo=0 step=87/400 +env0 step: 87 / 400 [collect] demo=0 step=88/400 +env0 step: 88 / 400 [collect] demo=0 step=89/400 +env0 step: 89 / 400 [collect] demo=0 step=90/400 +env0 step: 90 / 400 [collect] demo=0 step=91/400 +env0 step: 91 / 400 [collect] demo=0 step=92/400 +env0 step: 92 / 400 [collect] demo=0 step=93/400 +env0 step: 93 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.0000 tracking_error=0.1200 gripper_position=0.0000 secured=False +[collect][auto_swap_T] right_pick label=t1 center=[0.06459999829530716, -0.18610000610351562, 0.7724999785423279] pick_tcp=[0.07400000095367432, -0.18950000405311584, 0.7645000219345093] waypoints=29 +[collect][auto_swap_T] right_pickup_retry reason=stage_tracking offset_deg=1.0 waypoints=29 +[collect] demo=0 step=94/400 +env0 step: 94 / 400 [collect] demo=0 step=95/400 +env0 step: 95 / 400 [collect] demo=0 step=96/400 +env0 step: 96 / 400 [collect] demo=0 step=97/400 +env0 step: 97 / 400 [collect] demo=0 step=98/400 +env0 step: 98 / 400 [collect] demo=0 step=99/400 +env0 step: 99 / 400 [collect] demo=0 step=100/400 +env0 step: 100 / 400 [collect] demo=0 step=101/400 +env0 step: 101 / 400 [collect] demo=0 step=102/400 +env0 step: 102 / 400 [collect] demo=0 step=103/400 +env0 step: 103 / 400 [collect] demo=0 step=104/400 +env0 step: 104 / 400 [collect] demo=0 step=105/400 +env0 step: 105 / 400 [collect] demo=0 step=106/400 +env0 step: 106 / 400 [collect] demo=0 step=107/400 +env0 step: 107 / 400 [collect] demo=0 step=108/400 +env0 step: 108 / 400 [collect] demo=0 step=109/400 +env0 step: 109 / 400 [collect] demo=0 step=110/400 +env0 step: 110 / 400 [collect] demo=0 step=111/400 +env0 step: 111 / 400 [collect] demo=0 step=112/400 +env0 step: 112 / 400 [collect] demo=0 step=113/400 +env0 step: 113 / 400 [collect] demo=0 step=114/400 +env0 step: 114 / 400 [collect] demo=0 step=115/400 +env0 step: 115 / 400 [collect] demo=0 step=116/400 +env0 step: 116 / 400 [collect] demo=0 step=117/400 +env0 step: 117 / 400 [collect] demo=0 step=118/400 +env0 step: 118 / 400 [collect] demo=0 step=119/400 +env0 step: 119 / 400 [collect] demo=0 step=120/400 +env0 step: 120 / 400 [collect] demo=0 step=121/400 +env0 step: 121 / 400 [collect] demo=0 step=122/400 +env0 step: 122 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0000 tracking_error=0.0250 gripper_position=0.8000 secured=False +[collect][auto_swap_T] right_pickup_candidates_exhausted reason=probe +[collect][auto_swap_T] right_stage observed=[0.06459999829530716, -0.18610000610351562, 0.7724999785423279] target=[0.18379999697208405, -0.20010000467300415, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=123/400 +env0 step: 123 / 400 [collect] demo=0 step=124/400 +env0 step: 124 / 400 [collect] demo=0 step=125/400 +env0 step: 125 / 400 [collect] demo=0 step=126/400 +env0 step: 126 / 400 [collect] demo=0 step=127/400 +env0 step: 127 / 400 [collect] demo=0 step=128/400 +env0 step: 128 / 400 [collect] demo=0 step=129/400 +env0 step: 129 / 400 [collect] demo=0 step=130/400 +env0 step: 130 / 400 [collect] demo=0 step=131/400 +env0 step: 131 / 400 [collect] demo=0 step=132/400 +env0 step: 132 / 400 [collect] demo=0 step=133/400 +env0 step: 133 / 400 [collect] demo=0 step=134/400 +env0 step: 134 / 400 [collect] demo=0 step=135/400 +env0 step: 135 / 400 [collect] demo=0 step=136/400 +env0 step: 136 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.0088 tracking_error=0.1159 gripper_position=0.0000 secured=False +[collect][auto_swap_T] right_pickup_candidates_exhausted reason=stage_tracking +[collect][auto_swap_T] right_pick label=t1 center=[0.0697999969124794, -0.17900000512599945, 0.7724999785423279] pick_tcp=[0.07980000227689743, -0.17880000174045563, 0.7724999785423279] waypoints=27 +[collect][auto_swap_T] right_stage_recovery attempt=2 restart_shared_candidates=True +[collect] demo=0 step=137/400 +env0 step: 137 / 400 [collect] demo=0 step=138/400 +env0 step: 138 / 400 [collect] demo=0 step=139/400 +env0 step: 139 / 400 [collect] demo=0 step=140/400 +env0 step: 140 / 400 [collect] demo=0 step=141/400 +env0 step: 141 / 400 [collect] demo=0 step=142/400 +env0 step: 142 / 400 [collect] demo=0 step=143/400 +env0 step: 143 / 400 [collect] demo=0 step=144/400 +env0 step: 144 / 400 [collect] demo=0 step=145/400 +env0 step: 145 / 400 [collect] demo=0 step=146/400 +env0 step: 146 / 400 [collect] demo=0 step=147/400 +env0 step: 147 / 400 [collect] demo=0 step=148/400 +env0 step: 148 / 400 [collect] demo=0 step=149/400 +env0 step: 149 / 400 [collect] demo=0 step=150/400 +env0 step: 150 / 400 [collect] demo=0 step=151/400 +env0 step: 151 / 400 [collect] demo=0 step=152/400 +env0 step: 152 / 400 [collect] demo=0 step=153/400 +env0 step: 153 / 400 [collect] demo=0 step=154/400 +env0 step: 154 / 400 [collect] demo=0 step=155/400 +env0 step: 155 / 400 [collect] demo=0 step=156/400 +env0 step: 156 / 400 [collect] demo=0 step=157/400 +env0 step: 157 / 400 [collect] demo=0 step=158/400 +env0 step: 158 / 400 [collect] demo=0 step=159/400 +env0 step: 159 / 400 [collect] demo=0 step=160/400 +env0 step: 160 / 400 [collect] demo=0 step=161/400 +env0 step: 161 / 400 [collect] demo=0 step=162/400 +env0 step: 162 / 400 [collect] demo=0 step=163/400 +env0 step: 163 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0939 tracking_error=0.0807 gripper_position=0.0000 secured=False +[collect][auto_swap_T] right_pick label=t1 center=[0.12970000505447388, -0.10660000145435333, 0.7724999785423279] pick_tcp=[0.13359999656677246, -0.09740000218153, 0.7645000219345093] waypoints=27 +[collect][auto_swap_T] right_pickup_retry reason=large_untracked_probe offset_deg=1.0 waypoints=27 +[collect] demo=0 step=164/400 +env0 step: 164 / 400 [collect] demo=0 step=165/400 +env0 step: 165 / 400 [collect] demo=0 step=166/400 +env0 step: 166 / 400 [collect] demo=0 step=167/400 +env0 step: 167 / 400 [collect] demo=0 step=168/400 +env0 step: 168 / 400 [collect] demo=0 step=169/400 +env0 step: 169 / 400 [collect] demo=0 step=170/400 +env0 step: 170 / 400 [collect] demo=0 step=171/400 +env0 step: 171 / 400 [collect] demo=0 step=172/400 +env0 step: 172 / 400 [collect] demo=0 step=173/400 +env0 step: 173 / 400 [collect] demo=0 step=174/400 +env0 step: 174 / 400 [collect] demo=0 step=175/400 +env0 step: 175 / 400 [collect] demo=0 step=176/400 +env0 step: 176 / 400 [collect] demo=0 step=177/400 +env0 step: 177 / 400 [collect] demo=0 step=178/400 +env0 step: 178 / 400 [collect] demo=0 step=179/400 +env0 step: 179 / 400 [collect] demo=0 step=180/400 +env0 step: 180 / 400 [collect] demo=0 step=181/400 +env0 step: 181 / 400 [collect] demo=0 step=182/400 +env0 step: 182 / 400 [collect] demo=0 step=183/400 +env0 step: 183 / 400 [collect] demo=0 step=184/400 +env0 step: 184 / 400 [collect] demo=0 step=185/400 +env0 step: 185 / 400 [collect] demo=0 step=186/400 +env0 step: 186 / 400 [collect] demo=0 step=187/400 +env0 step: 187 / 400 [collect] demo=0 step=188/400 +env0 step: 188 / 400 [collect] demo=0 step=189/400 +env0 step: 189 / 400 [collect] demo=0 step=190/400 +env0 step: 190 / 400 [collect][auto_swap_T] right_pickup_verify displacement=0.0130 tracking_error=0.0127 gripper_position=0.1016 secured=True +[collect][auto_swap_T] right_stage observed=[0.1395999938249588, -0.0982000008225441, 0.7739999890327454] target=[0.18379999697208405, -0.20010000467300415, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=191/400 +env0 step: 191 / 400 [collect] demo=0 step=192/400 +env0 step: 192 / 400 [collect] demo=0 step=193/400 +env0 step: 193 / 400 [collect] demo=0 step=194/400 +env0 step: 194 / 400 [collect] demo=0 step=195/400 +env0 step: 195 / 400 [collect] demo=0 step=196/400 +env0 step: 196 / 400 [collect] demo=0 step=197/400 +env0 step: 197 / 400 [collect] demo=0 step=198/400 +env0 step: 198 / 400 [collect] demo=0 step=199/400 +env0 step: 199 / 400 [collect] demo=0 step=200/400 +env0 step: 200 / 400 [collect] demo=0 step=201/400 +env0 step: 201 / 400 [collect] demo=0 step=202/400 +env0 step: 202 / 400 [collect] demo=0 step=203/400 +env0 step: 203 / 400 [collect] demo=0 step=204/400 +env0 step: 204 / 400 [collect][auto_swap_T] right_stage_verify displacement=0.1089 tracking_error=0.0028 gripper_position=0.1580 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.18140000104904175, -0.19869999587535858, 0.7741000056266785] lifted=0.0016 ee_to_object_pos=[0.14880000054836273, -0.0003000000142492354, -0.019200000911951065] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=60.77 +[collect] demo=0 step=205/400 +env0 step: 205 / 400 [collect] demo=0 step=206/400 +env0 step: 206 / 400 [collect] demo=0 step=207/400 +env0 step: 207 / 400 [collect] demo=0 step=208/400 +env0 step: 208 / 400 [collect] demo=0 step=209/400 +env0 step: 209 / 400 [collect] demo=0 step=210/400 +env0 step: 210 / 400 [collect] demo=0 step=211/400 +env0 step: 211 / 400 [collect] demo=0 step=212/400 +env0 step: 212 / 400 [collect] demo=0 step=213/400 +env0 step: 213 / 400 [collect] demo=0 step=214/400 +env0 step: 214 / 400 [collect] demo=0 step=215/400 +env0 step: 215 / 400 [collect] demo=0 step=216/400 +env0 step: 216 / 400 [collect] demo=0 step=217/400 +env0 step: 217 / 400 [collect] demo=0 step=218/400 +env0 step: 218 / 400 [collect] demo=0 step=219/400 +env0 step: 219 / 400 [collect] demo=0 step=220/400 +env0 step: 220 / 400 [collect] demo=0 step=221/400 +env0 step: 221 / 400 [collect] demo=0 step=222/400 +env0 step: 222 / 400 [collect] demo=0 step=223/400 +env0 step: 223 / 400 [collect][auto_swap_T] left_rotate step=20 xy=0.0002 z=0.0001 yaw_deg=-19.58 +[collect] demo=0 step=224/400 +env0 step: 224 / 400 [collect] demo=0 step=225/400 +env0 step: 225 / 400 [collect] demo=0 step=226/400 +env0 step: 226 / 400 [collect] demo=0 step=227/400 +env0 step: 227 / 400 [collect] demo=0 step=228/400 +env0 step: 228 / 400 [collect] demo=0 step=229/400 +env0 step: 229 / 400 [collect] demo=0 step=230/400 +env0 step: 230 / 400 [collect] demo=0 step=231/400 +env0 step: 231 / 400 [collect] demo=0 step=232/400 +env0 step: 232 / 400 [collect][auto_swap_T] left_rotate step=29 xy=0.0002 z=0.0001 yaw_deg=-0.30 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=233/400 +env0 step: 233 / 400 [collect] demo=0 step=234/400 +env0 step: 234 / 400 [collect] demo=0 step=235/400 +env0 step: 235 / 400 [collect] demo=0 step=236/400 +env0 step: 236 / 400 [collect] demo=0 step=237/400 +env0 step: 237 / 400 [collect] demo=0 step=238/400 +env0 step: 238 / 400 [collect] demo=0 step=239/400 +env0 step: 239 / 400 [collect] demo=0 step=240/400 +env0 step: 240 / 400 [collect] demo=0 step=241/400 +env0 step: 241 / 400 [collect] demo=0 step=242/400 +env0 step: 242 / 400 [collect] demo=0 step=243/400 +env0 step: 243 / 400 [collect][auto_swap_T] left_align step=40 xy=0.2273 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=244/400 +env0 step: 244 / 400 [collect] demo=0 step=245/400 +env0 step: 245 / 400 [collect] demo=0 step=246/400 +env0 step: 246 / 400 [collect] demo=0 step=247/400 +env0 step: 247 / 400 [collect] demo=0 step=248/400 +env0 step: 248 / 400 [collect] demo=0 step=249/400 +env0 step: 249 / 400 [collect] demo=0 step=250/400 +env0 step: 250 / 400 [collect] demo=0 step=251/400 +env0 step: 251 / 400 [collect] demo=0 step=252/400 +env0 step: 252 / 400 [collect] demo=0 step=253/400 +env0 step: 253 / 400 [collect] demo=0 step=254/400 +env0 step: 254 / 400 [collect] demo=0 step=255/400 +env0 step: 255 / 400 [collect] demo=0 step=256/400 +env0 step: 256 / 400 [collect] demo=0 step=257/400 +env0 step: 257 / 400 [collect] demo=0 step=258/400 +env0 step: 258 / 400 [collect] demo=0 step=259/400 +env0 step: 259 / 400 [collect] demo=0 step=260/400 +env0 step: 260 / 400 [collect] demo=0 step=261/400 +env0 step: 261 / 400 [collect] demo=0 step=262/400 +env0 step: 262 / 400 [collect] demo=0 step=263/400 +env0 step: 263 / 400 [collect][auto_swap_T] left_align step=60 xy=0.1408 z=0.0001 yaw_deg=-0.01 +[collect] demo=0 step=264/400 +env0 step: 264 / 400 [collect] demo=0 step=265/400 +env0 step: 265 / 400 [collect] demo=0 step=266/400 +env0 step: 266 / 400 [collect] demo=0 step=267/400 +env0 step: 267 / 400 [collect] demo=0 step=268/400 +env0 step: 268 / 400 [collect] demo=0 step=269/400 +env0 step: 269 / 400 [collect] demo=0 step=270/400 +env0 step: 270 / 400 [collect] demo=0 step=271/400 +env0 step: 271 / 400 [collect] demo=0 step=272/400 +env0 step: 272 / 400 [collect] demo=0 step=273/400 +env0 step: 273 / 400 [collect] demo=0 step=274/400 +env0 step: 274 / 400 [collect] demo=0 step=275/400 +env0 step: 275 / 400 [collect] demo=0 step=276/400 +env0 step: 276 / 400 [collect] demo=0 step=277/400 +env0 step: 277 / 400 [collect] demo=0 step=278/400 +env0 step: 278 / 400 [collect] demo=0 step=279/400 +env0 step: 279 / 400 [collect] demo=0 step=280/400 +env0 step: 280 / 400 [collect] demo=0 step=281/400 +env0 step: 281 / 400 [collect] demo=0 step=282/400 +env0 step: 282 / 400 [collect] demo=0 step=283/400 +env0 step: 283 / 400 [collect][auto_swap_T] left_align step=80 xy=0.0553 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=284/400 +env0 step: 284 / 400 [collect] demo=0 step=285/400 +env0 step: 285 / 400 [collect] demo=0 step=286/400 +env0 step: 286 / 400 [collect] demo=0 step=287/400 +env0 step: 287 / 400 [collect] demo=0 step=288/400 +env0 step: 288 / 400 [collect] demo=0 step=289/400 +env0 step: 289 / 400 [collect] demo=0 step=290/400 +env0 step: 290 / 400 [collect] demo=0 step=291/400 +env0 step: 291 / 400 [collect] demo=0 step=292/400 +env0 step: 292 / 400 [collect] demo=0 step=293/400 +env0 step: 293 / 400 [collect] demo=0 step=294/400 +env0 step: 294 / 400 [collect] demo=0 step=295/400 +env0 step: 295 / 400 [collect] demo=0 step=296/400 +env0 step: 296 / 400 [collect] demo=0 step=297/400 +env0 step: 297 / 400 [collect] demo=0 step=298/400 +env0 step: 298 / 400 [collect][auto_swap_T] left_align step=95 xy=0.0026 z=0.0007 yaw_deg=-0.17 +[collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=299/400 +env0 step: 299 / 400 [collect][auto_swap_T] left_release step=96 xy=0.0016 z=0.0006 yaw_deg=-0.11 +[collect] demo=0 step=300/400 +env0 step: 300 / 400 [collect] demo=0 step=301/400 +env0 step: 301 / 400 [collect] demo=0 step=302/400 +env0 step: 302 / 400 [collect] demo=0 step=303/400 +env0 step: 303 / 400 [collect][auto_swap_T] left_release step=100 xy=0.0006 z=0.0040 yaw_deg=-0.32 +[collect][auto_swap_T] left_feedback released center=[0.06400000303983688, -0.18610000610351562, 0.7724999785423279] quat=[0.9854999780654907, -0.0, 0.0, -0.16990000009536743] +[collect][auto_swap_T] left_home_overlap_start waypoints=2 +[collect] demo=0 step=304/400 +env0 step: 304 / 400 [collect] demo=0 step=305/400 +env0 step: 305 / 400 [collect] demo=0 step=306/400 +env0 step: 306 / 400 [collect][auto_swap_T] right_grasp_relation_check error=0.0002 live=[0.14880000054836273, -9.999999747378752e-05, -0.019200000911951065] expected=[0.14880000054836273, -0.0003000000142492354, -0.019200000911951065] +[collect][auto_swap_T] captured_right_grasp object_center=[0.18950000405311584, -0.19480000436306, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.14880000054836273, -9.999999747378752e-05, -0.019200000911951065] +[collect][auto_swap_T] right_detour obstacle=[0.06459999829530716, -0.18610000610351562, 0.7724999785423279] waypoint=[0.04349999874830246, -0.36579999327659607, 0.7940000295639038] clearance=0.1810 grasp_local_z=-0.0192 +[collect][auto_swap_T] concurrent_left_home right_waypoints=38 left_home_waypoints=15 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07699999958276749, -0.16940000653266907, 0.7724999785423279] waypoints=38 +[collect][auto_swap_T] phase=right_place waypoints=38 +[collect] demo=0 step=307/400 +env0 step: 307 / 400 [collect] demo=0 step=308/400 +env0 step: 308 / 400 [collect] demo=0 step=309/400 +env0 step: 309 / 400 [collect] demo=0 step=310/400 +env0 step: 310 / 400 [collect] demo=0 step=311/400 +env0 step: 311 / 400 [collect] demo=0 step=312/400 +env0 step: 312 / 400 [collect] demo=0 step=313/400 +env0 step: 313 / 400 [collect] demo=0 step=314/400 +env0 step: 314 / 400 [collect] demo=0 step=315/400 +env0 step: 315 / 400 [collect] demo=0 step=316/400 +env0 step: 316 / 400 [collect] demo=0 step=317/400 +env0 step: 317 / 400 [collect] demo=0 step=318/400 +env0 step: 318 / 400 [collect] demo=0 step=319/400 +env0 step: 319 / 400 [collect] demo=0 step=320/400 +env0 step: 320 / 400 [collect] demo=0 step=321/400 +env0 step: 321 / 400 [collect] demo=0 step=322/400 +env0 step: 322 / 400 [collect] demo=0 step=323/400 +env0 step: 323 / 400 [collect] demo=0 step=324/400 +env0 step: 324 / 400 [collect] demo=0 step=325/400 +env0 step: 325 / 400 [collect] demo=0 step=326/400 +env0 step: 326 / 400 [collect] demo=0 step=327/400 +env0 step: 327 / 400 [collect] demo=0 step=328/400 +env0 step: 328 / 400 [collect] demo=0 step=329/400 +env0 step: 329 / 400 [collect] demo=0 step=330/400 +env0 step: 330 / 400 [collect] demo=0 step=331/400 +env0 step: 331 / 400 [collect] demo=0 step=332/400 +env0 step: 332 / 400 [collect] demo=0 step=333/400 +env0 step: 333 / 400 [collect] demo=0 step=334/400 +env0 step: 334 / 400 [collect] demo=0 step=335/400 +env0 step: 335 / 400 [collect] demo=0 step=336/400 +env0 step: 336 / 400 [collect] demo=0 step=337/400 +env0 step: 337 / 400 [collect] demo=0 step=338/400 +env0 step: 338 / 400 [collect] demo=0 step=339/400 +env0 step: 339 / 400 [collect] demo=0 step=340/400 +env0 step: 340 / 400 [collect] demo=0 step=341/400 +env0 step: 341 / 400 [collect] demo=0 step=342/400 +env0 step: 342 / 400 [collect] demo=0 step=343/400 +env0 step: 343 / 400 [collect] demo=0 step=344/400 +env0 step: 344 / 400 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.04 +[collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=345/400 +env0 step: 345 / 400 [collect][auto_swap_T] right_align step=2 xy=0.0026 z=0.0040 yaw_deg=-0.04 +[collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=346/400 +env0 step: 346 / 400 [collect][auto_swap_T] right_release step=3 xy=0.0006 z=0.0013 yaw_deg=0.04 +[collect] demo=0 step=347/400 +env0 step: 347 / 400 [collect] demo=0 step=348/400 +env0 step: 348 / 400 [collect] demo=0 step=349/400 +env0 step: 349 / 400 [collect] demo=0 step=350/400 +env0 step: 350 / 400 [collect][auto_swap_T] right_feedback released center=[-0.07720000296831131, -0.1695999950170517, 0.7724999785423279] quat=[0.8141000270843506, 0.0, 0.0, 0.5806999802589417] +[collect] demo=0 step=351/400 +env0 step: 351 / 400 [collect] demo=0 step=352/400 +env0 step: 352 / 400 [collect] demo=0 step=353/400 +env0 step: 353 / 400 [collect] demo=0 step=354/400 +env0 step: 354 / 400 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, 0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, 0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.2061000019311905, 0.24580000340938568, 0.11900000274181366], 'rot_deg': 54.82, 'real': [0.09440000355243683, -0.10649999976158142, 1.0405000448226929, 0.631600022315979, -0.23029999434947968, 0.398499995470047, 0.6238999962806702], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=1 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=355/400 +env0 step: 355 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=3 +[collect] demo=0 step=356/400 +env0 step: 356 / 400 [collect] demo=0 step=357/400 +env0 step: 357 / 400 [collect] demo=0 step=358/400 +env0 step: 358 / 400 [collect][auto_swap_T] final_audit checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] home_diagnostics=[{'arm': 'left_arm', 'pos_delta': [-9.999999747378752e-05, 0.0, -0.0], 'rot_deg': 0.0, 'real': [-0.2996000051498413, -0.3522999882698059, 0.921500027179718, 0.7067999839782715, -0.0, 0.0, 0.7074000239372253], 'origin': [-0.2994999885559082, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}, {'arm': 'right_arm', 'pos_delta': [-0.06260000169277191, 0.17900000512599945, 0.15809999406337738], 'rot_deg': 20.98, 'real': [0.2379000037908554, -0.17329999804496765, 1.0795999765396118, 0.6866999864578247, -0.11490000039339066, 0.14069999754428864, 0.7038999795913696], 'origin': [0.3005000054836273, -0.3522999882698059, 0.921500027179718, 0.7070000171661377, -0.0, -0.0, 0.7071999907493591]}] +[collect][auto_swap_T] final_home_recovery attempt=2 checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect][auto_swap_T] phase=final_home_left waypoints=1 +[collect] demo=0 step=359/400 +env0 step: 359 / 400 [collect][auto_swap_T] phase=final_home_right waypoints=2 +[collect] demo=0 step=360/400 +env0 step: 360 / 400 [collect] demo=0 step=361/400 +env0 step: 361 / 400 [collect][swap_T_debug] {'t0': {'pos': [0.064019, -0.186107, 0.7725], 'quat': [0.985466, -1e-06, 0.0, -0.169871]}, 't1': {'pos': [-0.077171, -0.169607, 0.7725], 'quat': [0.814088, 0.0, -0.0, 0.580742]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_regv65_seed19_official400.hdf5 +2026-07-24T07:31:29Z [165,401ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-24T07:31:29Z [165,401ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[165.874s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_rightliftv17_seed3_diag600b.log b/yzr/swap_T/logs/swap_T_rightliftv17_seed3_diag600b.log new file mode 100644 index 0000000000000000000000000000000000000000..acfde562143ebcab1146cc2c87901214c8b64a6d --- /dev/null +++ b/yzr/swap_T/logs/swap_T_rightliftv17_seed3_diag600b.log @@ -0,0 +1,874 @@ +[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_060458.log +[0.073s] [ext: omni.kit.async_engine-0.0.3] startup +[0.238s] [ext: omni.metrics.core-0.0.3] startup +[0.238s] [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 +[0.261s] [ext: omni.client-1.3.0] startup +[0.267s] [ext: omni.ujitso.default-1.0.0] startup +[0.268s] [ext: omni.hsscclient-1.1.2] startup +[0.291s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.293s] [ext: omni.assets.plugins-0.0.0] startup +[0.294s] [ext: omni.gpu_foundation-0.0.0] startup +[0.301s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T22:04:59Z [272ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:04:59Z [272ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.302s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T22:04:59Z [397ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T22:04:59Z [403ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T22:04:59Z [403ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T22:04:59Z [403ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T22:04:59Z [464ms] [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. +2026-07-23T22:05:01Z [2,260ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:05:01Z [2,260ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:05:01Z [2,267ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:05:01Z [2,267ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:05:01Z [2,273ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:05:01Z [2,273ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:05:01Z [2,292ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:05:01Z [2,292ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:05:01Z [2,292ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:05:01Z [2,292ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T22:05:01Z [2,292ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T22:05:01Z [2,292ms] [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: 13690 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.540s] [ext: omni.materialx.libs-1.0.7] startup +[3.549s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.550s] [ext: omni.kit.test-2.0.1] startup +[3.599s] [ext: omni.kit.pipapi-0.0.0] startup +[3.599s] [ext: omni.usd.config-1.0.6] startup +[3.603s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.603s] [ext: omni.usd.libs-1.0.1] startup +[3.717s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.717s] [ext: omni.mdl-56.0.3] startup +[3.741s] [ext: omni.iray.libs-0.0.0] startup +[3.748s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.750s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.858s] [ext: omni.kit.telemetry-0.5.2] startup +[3.907s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T22:05:02Z [3,879ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:05:02Z [3,879ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.912s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T22:05:02Z [4,093ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:05:02Z [4,093ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T22:05:02Z [4,105ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:05:02Z [4,105ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.137s] [ext: omni.kit.renderer.capture-0.0.0] startup +[4.140s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T22:05:02Z [4,113ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:05:02Z [4,113ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T22:05:02Z [4,115ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:05:02Z [4,115ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T22:05:02Z [4,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:05:02Z [4,116ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[4.242s] [ext: omni.ui-2.27.1] startup +[4.254s] [ext: omni.kit.mainwindow-1.0.3] startup +[4.255s] [ext: carb.audio-0.1.0] startup +[4.283s] [ext: omni.uiaudio-1.0.0] startup +[4.284s] [ext: omni.kit.uiapp-0.0.0] startup +[4.285s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[4.288s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[4.299s] [ext: omni.usd.schema.semantics-0.0.0] startup +[4.304s] [ext: omni.usd.schema.audio-0.0.0] startup +[4.311s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[4.316s] [ext: omni.usd.schema.anim-0.0.0] startup +[4.343s] [ext: omni.usd_resolver-1.0.0] startup +[4.351s] [ext: omni.usd.core-1.5.3] startup +[4.354s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[4.379s] [ext: isaacsim.robot.schema-3.6.0] startup +[4.399s] [ext: omni.usd.schema.physx-107.3.26] startup +[4.439s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[4.440s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[4.440s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[4.446s] [ext: omni.graph.exec-0.9.6] startup +[4.447s] [ext: omni.kit.actions.core-1.0.0] startup +[4.450s] [ext: omni.kit.usd_undo-0.1.8] startup +[4.450s] [ext: omni.kit.exec.core-0.13.4] startup +[4.452s] [ext: omni.kit.commands-1.4.10] startup +[4.456s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[4.463s] [ext: omni.activity.core-1.0.3] startup +[4.465s] [ext: omni.resourcemonitor-107.0.1] startup +[4.467s] [ext: omni.timeline-1.0.14] startup +[4.469s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[4.471s] [ext: usdrt.scenegraph-7.6.1] startup +[4.516s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[4.517s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[4.526s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[4.532s] [ext: omni.usd-1.13.10] startup +[4.564s] [ext: omni.kit.asset_converter-5.0.17] startup +[4.578s] [ext: omni.index.libs-380600.8087.0] startup +[4.578s] [ext: omni.volume-0.5.2] startup +[4.581s] [ext: omni.ujitso.client-0.0.0] startup +[4.582s] [ext: omni.index-1.0.1] startup +[4.583s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[4.585s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T22:05:03Z [4,577ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[4.629s] [ext: omni.kit.notification_manager-1.0.10] startup +[4.632s] [ext: omni.kit.clipboard-1.0.5] startup +[4.633s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[4.637s] [ext: omni.kit.raycast.query-1.1.0] startup +[4.645s] [ext: omni.kit.menu.core-1.1.2] startup +[4.646s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[4.649s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[4.652s] [ext: omni.kit.widget.path_field-2.0.11] startup +[4.653s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[4.655s] [ext: omni.kit.widget.options_button-1.0.3] startup +[4.656s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[4.660s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[4.661s] [ext: omni.kit.usd.layers-2.2.11] startup +[4.670s] [ext: omni.ui.scene-1.11.5] startup +[4.675s] [ext: omni.kit.viewport.registry-104.0.6] startup +[4.675s] [ext: omni.kit.window.filepicker-2.13.4] startup +[4.694s] [ext: omni.kit.menu.utils-2.0.5] startup +[4.703s] [ext: omni.kit.context_menu-1.8.6] startup +[4.707s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[4.713s] [ext: omni.kit.hydra_texture-1.4.6] startup +[4.718s] [ext: omni.kit.window.file_importer-1.1.18] startup +[4.720s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[4.721s] [ext: omni.kit.window.drop_support-1.0.5] startup +[4.722s] [ext: omni.kit.widget.viewport-107.1.3] startup +[4.727s] [ext: omni.kit.material.library-2.0.7] startup +[4.732s] [ext: omni.hydra.engine.stats-1.0.3] startup +[4.736s] [ext: omni.kit.widget.settings-1.2.6] startup +[4.738s] [ext: omni.kit.viewport.window-107.2.0] startup +[4.755s] [ext: omni.kit.window.preferences-1.8.0] startup +[4.760s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.765s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.765s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.770s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.774s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.775s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.777s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.778s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.779s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.781s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.787s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.790s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.791s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.793s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.794s] [ext: omni.fabric.commands-1.1.6] startup +[4.797s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.798s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.799s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.800s] [ext: omni.debugdraw-0.1.4] startup +[4.805s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.816s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.817s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.817s] [ext: omni.kvdb-107.3.26] startup +[4.819s] [ext: omni.convexdecomposition-107.3.26] startup +[4.822s] [ext: omni.physx.foundation-107.3.26] startup +[4.824s] [ext: omni.localcache-107.3.26] startup +[4.825s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.826s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.826s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.827s] [ext: omni.usdphysics-107.3.26] startup +[4.829s] [ext: omni.kit.window.file-2.0.5] startup +[4.832s] [ext: omni.physx.cooking-107.3.26] startup +[4.836s] [ext: omni.physics-107.3.26] startup +[4.839s] [ext: omni.kit.window.property-1.12.1] startup +[4.842s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.857s] [ext: omni.physx-107.3.26] startup +[4.868s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.871s] [ext: omni.kit.property.usd-4.5.12] startup +[4.882s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.883s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T22:05:03Z [4,855ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[4.885s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.886s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.899s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.904s] [ext: omni.inspect-1.0.2] startup +[4.905s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.917s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.918s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.925s] [ext: omni.graph.core-2.184.5] startup +[4.929s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.930s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.958s] [ext: omni.physx.commands-107.3.26] startup +[4.962s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.963s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T22:05:03Z [4,939ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.970s] [ext: omni.physx.ui-107.3.26] startup +[5.004s] [ext: isaacsim.core.version-2.0.6] startup +[5.004s] [ext: omni.physics.tensors-107.3.26] startup +[5.012s] [ext: omni.warp.core-1.8.2] startup +[5.202s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[5.204s] [ext: isaacsim.storage.native-1.5.1] startup +[5.205s] [ext: omni.physx.tensors-107.3.26] startup +[5.211s] [ext: isaacsim.core.utils-3.5.1] startup +[5.215s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.695s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.697s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.699s] [ext: omni.kit.window.stage-2.6.1] startup +[6.705s] [ext: omni.kit.menu.create-2.0.1] startup +[6.707s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.716s] [ext: omni.kit.scripting-107.3.2] startup +[6.722s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.727s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.727s] [ext: omni.graph.tools-1.79.2] startup +[6.759s] [ext: omni.ui_query-1.1.8] startup +[6.760s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.761s] [ext: omni.graph-1.141.2] startup +[6.821s] [ext: omni.graph.action_core-1.1.7] startup +[6.823s] [ext: omni.kit.ui_test-1.3.7] startup +[6.828s] [ext: omni.kit.browser.core-2.3.13] startup +[6.833s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.835s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.842s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.845s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.856s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.863s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.877s] [ext: omni.graph.action-1.130.0] startup +[6.879s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.886s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.893s] [ext: isaacsim.gui.components-1.2.1] startup +[6.899s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.906s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[7.060s] [ext: isaacsim.core.cloner-1.4.10] startup +[7.074s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[7.082s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[7.223s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T22:05:05Z [7,202ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[7.236s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[7.238s] [ext: omni.kit.window.status_bar-0.1.9] startup +[7.245s] [ext: omni.kit.widget.graph-2.0.0] startup +[7.255s] [ext: omni.kit.stage_templates-2.0.0] startup +[7.259s] [ext: omni.graph.image.core-0.6.1] startup +[7.261s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[7.262s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[7.265s] [ext: omni.graph.image.nodes-1.3.1] startup +[7.268s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[7.272s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[7.275s] [ext: omni.graph.nodes-1.170.10] startup +[7.293s] [ext: omni.graph.ui_nodes-1.50.5] startup +[7.299s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[7.306s] [ext: omni.syntheticdata-0.6.13] startup +[7.357s] [ext: omni.videoencoding-0.1.2] startup +[7.363s] [ext: omni.warp-1.8.2] startup +[7.374s] [ext: omni.kit.window.material_graph-1.9.1] startup +[7.408s] [ext: omni.graph.scriptnode-1.50.0] startup +[7.415s] [ext: isaacsim.core.prims-0.6.1] startup +[7.494s] [ext: isaacsim.test.docstring-1.1.0] startup +[7.517s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T22:05:06Z [7,689ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T22:05:06Z [7,689ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T22:05:06Z [7,701ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.736s] [ext: isaacsim.core.api-4.8.0] startup +[7.788s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.851s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.876s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.906s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.936s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.973s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.982s] [ext: isaacsim.sensors.physx-2.3.2] startup +[8.008s] [ext: omni.sensors.nv.materials-2.0.0] startup +[8.030s] [ext: omni.sensors.net-1.0.0] startup +[8.041s] [ext: isaacsim.app.about-2.0.11] startup +[8.049s] [ext: isaacsim.simulation_app-2.12.2] startup +[8.055s] [ext: omni.sensors.nv.ids-2.0.0] startup +[8.064s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[8.140s] [ext: omni.kit.property.audio-1.0.16] startup +[8.159s] [ext: omni.kit.property.camera-1.0.10] startup +[8.165s] [ext: omni.kit.property.geometry-2.0.4] startup +[8.174s] [ext: omni.hydra.scene_api-0.1.2] startup +[8.181s] [ext: omni.kit.property.light-1.0.12] startup +[8.214s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[8.218s] [ext: omni.kit.selection-0.1.6] startup +[8.220s] [ext: omni.kit.property.material-1.11.9] startup +[8.241s] [ext: omni.kit.property.transform-1.5.13] startup +[8.275s] [ext: omni.kit.property.render-1.2.1] startup +[8.288s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.302s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.498s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.679s] [ext: isaacsim.gui.property-1.1.3] startup +[8.848s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.866s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.909s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.952s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[9.011s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[9.031s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[9.069s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[9.080s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[9.085s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.113s] [ext: omni.kit.window.console-1.1.4] startup +[9.131s] [ext: omni.rtx.window.settings-0.6.19] startup +[9.149s] [ext: omni.ocio-0.1.1] startup +[9.156s] [ext: omni.physx.demos-107.3.26] startup +[9.210s] [ext: omni.kit.property.physx-107.3.26] startup +[9.256s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.288s] [ext: omni.asset_validator.core-1.1.6] startup +[9.395s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.404s] [ext: omni.physx.vehicle-107.3.26] startup +[9.434s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.450s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.456s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.464s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.476s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.487s] [ext: omni.physx.camera-107.3.26] startup +[9.503s] [ext: omni.anim.curve.core-1.3.1] startup +[9.529s] [ext: omni.physx.cct-107.3.26] startup +[9.549s] [ext: omni.physx.graph-107.3.26] startup +[9.569s] [ext: omni.physx.supportui-107.3.26] startup +[9.598s] [ext: omni.physx.telemetry-107.3.26] startup +[9.605s] [ext: isaaclab-0.54.3] startup +[9.877s] [ext: isaaclab_contrib-0.0.2] startup +[9.878s] [ext: isaacsim.core.throttling-2.2.2] startup +[9.881s] [ext: omni.kit.ui.actions-1.0.5] startup +[9.886s] [ext: semantics.schema.property-2.0.1] startup +[9.890s] [ext: omni.physx.bundle-107.3.26] startup +[9.893s] [ext: isaacsim.sensors.camera-1.3.6] startup +[9.899s] [ext: isaaclab_assets-0.2.4] startup +[10.199s] [ext: isaaclab_tasks-0.11.14] startup +[10.364s] [ext: omni.kit.menu.common-2.0.1] startup +[10.367s] [ext: isaaclab_rl-0.5.0] startup +[10.369s] [ext: isaaclab_mimic-1.0.16] startup +[10.371s] [ext: isaaclab.python-2.3.2] startup +[10.374s] Simulation App Starting +2026-07-23T22:05:09Z [10,424ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T22:05:09Z [10,428ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T22:05:09Z [10,428ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T22:05:09Z [10,428ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T22:05:09Z [10,457ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[10.517s] app ready +2026-07-23T22:05:10Z [11,417ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T22:05:10Z [11,417ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T22:05:10Z [11,417ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T22:05:10Z [11,417ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[14.837s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 600; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=3 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=600 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=3 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_06-05-31.log +====================================================================================== + +06:05:31 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 3 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T22:05:32Z [33,500ms] [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 +2026-07-23T22:05:32Z [33,605ms] [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. +2026-07-23T22:05:32Z [33,621ms] [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. +2026-07-23T22:05:32Z [33,633ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.457949 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T22:05:32Z [33,647ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +2026-07-23T22:05:32Z [33,654ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +2026-07-23T22:05:32Z [34,160ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +2026-07-23T22:05:32Z [34,161ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +2026-07-23T22:05:32Z [34,164ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +2026-07-23T22:05:32Z [34,164ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +2026-07-23T22:05:32Z [34,164ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +2026-07-23T22:05:32Z [34,165ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55de44abb860:World0.usd@ <0x55de44abc860>) + +[INFO]: Time taken for simulation start : 0.745880 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T22:05:40Z [42,033ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T22:05:43Z [44,771ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER] 1.0 MDLC comp warn : file:/root/autodl-tmp/robodojo_ws/RoboDojo/.cache/robodojo_ckpt_huggingface_repo/Assets/Material/material_0122/Mahogany_Planks.mdl(49,24): C302 conversion from 'float' to 'float2' must be explicit +2026-07-23T22:05:43Z [44,772ms] [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 +2026-07-23T22:05:43Z [44,772ms] [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 +2026-07-23T22:05:43Z [44,772ms] [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 +2026-07-23T22:05:52Z [53,897ms] [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=3 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.0657379999756813, -0.19524399936199188, 0.7724999785423279], 'quat': [0.996662974357605, 0.0, -0.0, -0.08162400126457214]}, 't1': {'center': [0.07747100293636322, -0.17475999891757965, 0.7724999785423279], 'quat': [0.30402401089668274, -0.0, -0.0, 0.9526640176773071]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.065700002014637, -0.19519999623298645, 0.7724999785423279] pick_tcp=[-0.05590000003576279, -0.19689999520778656, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/600 +env0 step: 1 / 600 [collect] demo=0 step=2/600 +env0 step: 2 / 600 [collect] demo=0 step=3/600 +env0 step: 3 / 600 [collect] demo=0 step=4/600 +env0 step: 4 / 600 [collect] demo=0 step=5/600 +env0 step: 5 / 600 [collect] demo=0 step=6/600 +env0 step: 6 / 600 [collect] demo=0 step=7/600 +env0 step: 7 / 600 [collect] demo=0 step=8/600 +env0 step: 8 / 600 [collect] demo=0 step=9/600 +env0 step: 9 / 600 [collect] demo=0 step=10/600 +env0 step: 10 / 600 [collect] demo=0 step=11/600 +env0 step: 11 / 600 [collect] demo=0 step=12/600 +env0 step: 12 / 600 [collect] demo=0 step=13/600 +env0 step: 13 / 600 [collect] demo=0 step=14/600 +env0 step: 14 / 600 [collect] demo=0 step=15/600 +env0 step: 15 / 600 [collect] demo=0 step=16/600 +env0 step: 16 / 600 [collect] demo=0 step=17/600 +env0 step: 17 / 600 [collect] demo=0 step=18/600 +env0 step: 18 / 600 [collect] demo=0 step=19/600 +env0 step: 19 / 600 [collect] demo=0 step=20/600 +env0 step: 20 / 600 [collect] demo=0 step=21/600 +env0 step: 21 / 600 [collect] demo=0 step=22/600 +env0 step: 22 / 600 [collect] demo=0 step=23/600 +env0 step: 23 / 600 [collect] demo=0 step=24/600 +env0 step: 24 / 600 [collect] demo=0 step=25/600 +env0 step: 25 / 600 [collect] demo=0 step=26/600 +env0 step: 26 / 600 [collect] demo=0 step=27/600 +env0 step: 27 / 600 [collect] demo=0 step=28/600 +env0 step: 28 / 600 [collect] demo=0 step=29/600 +env0 step: 29 / 600 [collect] demo=0 step=30/600 +env0 step: 30 / 600 [collect] demo=0 step=31/600 +env0 step: 31 / 600 [collect] demo=0 step=32/600 +env0 step: 32 / 600 [collect] demo=0 step=33/600 +env0 step: 33 / 600 [collect] demo=0 step=34/600 +env0 step: 34 / 600 [collect] demo=0 step=35/600 +env0 step: 35 / 600 [collect] demo=0 step=36/600 +env0 step: 36 / 600 [collect] demo=0 step=37/600 +env0 step: 37 / 600 [collect] demo=0 step=38/600 +env0 step: 38 / 600 [collect] demo=0 step=39/600 +env0 step: 39 / 600 [collect][auto_swap_T] left_pickup_verify displacement=0.0159 tracking_error=0.0139 gripper_position=0.1361 secured=True +[collect][auto_swap_T] left_stage observed=[-0.0803999975323677, -0.1890999972820282, 0.7739999890327454] target=[-0.18449999392032623, -0.21220000088214874, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=40/600 +env0 step: 40 / 600 [collect] demo=0 step=41/600 +env0 step: 41 / 600 [collect] demo=0 step=42/600 +env0 step: 42 / 600 [collect] demo=0 step=43/600 +env0 step: 43 / 600 [collect] demo=0 step=44/600 +env0 step: 44 / 600 [collect] demo=0 step=45/600 +env0 step: 45 / 600 [collect] demo=0 step=46/600 +env0 step: 46 / 600 [collect] demo=0 step=47/600 +env0 step: 47 / 600 [collect] demo=0 step=48/600 +env0 step: 48 / 600 [collect] demo=0 step=49/600 +env0 step: 49 / 600 [collect] demo=0 step=50/600 +env0 step: 50 / 600 [collect] demo=0 step=51/600 +env0 step: 51 / 600 [collect] demo=0 step=52/600 +env0 step: 52 / 600 [collect][auto_swap_T] left_stage_verify displacement=0.1064 tracking_error=0.0010 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.18449999392032623, -0.21119999885559082, 0.7739999890327454] lifted=0.0015 ee_to_object_pos=[0.14910000562667847, -9.999999747378752e-05, -0.014700000174343586] +[collect][auto_swap_T] right_pick label=t1 center=[0.07750000059604645, -0.17479999363422394, 0.7724999785423279] pick_tcp=[0.06930000334978104, -0.16899999976158142, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=53/600 +env0 step: 53 / 600 [collect] demo=0 step=54/600 +env0 step: 54 / 600 [collect] demo=0 step=55/600 +env0 step: 55 / 600 [collect] demo=0 step=56/600 +env0 step: 56 / 600 [collect] demo=0 step=57/600 +env0 step: 57 / 600 [collect] demo=0 step=58/600 +env0 step: 58 / 600 [collect] demo=0 step=59/600 +env0 step: 59 / 600 [collect] demo=0 step=60/600 +env0 step: 60 / 600 [collect] demo=0 step=61/600 +env0 step: 61 / 600 [collect] demo=0 step=62/600 +env0 step: 62 / 600 [collect] demo=0 step=63/600 +env0 step: 63 / 600 [collect] demo=0 step=64/600 +env0 step: 64 / 600 [collect] demo=0 step=65/600 +env0 step: 65 / 600 [collect] demo=0 step=66/600 +env0 step: 66 / 600 [collect] demo=0 step=67/600 +env0 step: 67 / 600 [collect] demo=0 step=68/600 +env0 step: 68 / 600 [collect] demo=0 step=69/600 +env0 step: 69 / 600 [collect] demo=0 step=70/600 +env0 step: 70 / 600 [collect] demo=0 step=71/600 +env0 step: 71 / 600 [collect] demo=0 step=72/600 +env0 step: 72 / 600 [collect] demo=0 step=73/600 +env0 step: 73 / 600 [collect] demo=0 step=74/600 +env0 step: 74 / 600 [collect] demo=0 step=75/600 +env0 step: 75 / 600 [collect] demo=0 step=76/600 +env0 step: 76 / 600 [collect] demo=0 step=77/600 +env0 step: 77 / 600 [collect] demo=0 step=78/600 +env0 step: 78 / 600 [collect] demo=0 step=79/600 +env0 step: 79 / 600 [collect] demo=0 step=80/600 +env0 step: 80 / 600 [collect] demo=0 step=81/600 +env0 step: 81 / 600 [collect] demo=0 step=82/600 +env0 step: 82 / 600 [collect] demo=0 step=83/600 +env0 step: 83 / 600 [collect] demo=0 step=84/600 +env0 step: 84 / 600 [collect] demo=0 step=85/600 +env0 step: 85 / 600 [collect] demo=0 step=86/600 +env0 step: 86 / 600 [collect] demo=0 step=87/600 +env0 step: 87 / 600 [collect] demo=0 step=88/600 +env0 step: 88 / 600 [collect] demo=0 step=89/600 +env0 step: 89 / 600 [collect] demo=0 step=90/600 +env0 step: 90 / 600 [collect] demo=0 step=91/600 +env0 step: 91 / 600 [collect] demo=0 step=92/600 +env0 step: 92 / 600 [collect][auto_swap_T] right_pickup_verify displacement=0.0116 tracking_error=0.0135 gripper_position=0.2652 secured=True +[collect][auto_swap_T] right_stage observed=[0.08879999816417694, -0.17239999771118164, 0.772599995136261] target=[0.19629999995231628, -0.15780000388622284, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=93/600 +env0 step: 93 / 600 [collect] demo=0 step=94/600 +env0 step: 94 / 600 [collect] demo=0 step=95/600 +env0 step: 95 / 600 [collect] demo=0 step=96/600 +env0 step: 96 / 600 [collect] demo=0 step=97/600 +env0 step: 97 / 600 [collect] demo=0 step=98/600 +env0 step: 98 / 600 [collect] demo=0 step=99/600 +env0 step: 99 / 600 [collect] demo=0 step=100/600 +env0 step: 100 / 600 [collect] demo=0 step=101/600 +env0 step: 101 / 600 [collect] demo=0 step=102/600 +env0 step: 102 / 600 [collect] demo=0 step=103/600 +env0 step: 103 / 600 [collect] demo=0 step=104/600 +env0 step: 104 / 600 [collect] demo=0 step=105/600 +env0 step: 105 / 600 [collect][auto_swap_T] right_stage_verify displacement=0.1137 tracking_error=0.0057 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.2011999934911728, -0.15479999780654907, 0.772599995136261] lifted=0.0001 ee_to_object_pos=[0.1492999941110611, -9.999999747378752e-05, -0.016899999231100082] +[collect][auto_swap_T] left_feedback_order=transport_first yaw_deg=172.21 +[collect] demo=0 step=106/600 +env0 step: 106 / 600 [collect] demo=0 step=107/600 +env0 step: 107 / 600 [collect] demo=0 step=108/600 +env0 step: 108 / 600 [collect] demo=0 step=109/600 +env0 step: 109 / 600 [collect] demo=0 step=110/600 +env0 step: 110 / 600 [collect] demo=0 step=111/600 +env0 step: 111 / 600 [collect] demo=0 step=112/600 +env0 step: 112 / 600 [collect] demo=0 step=113/600 +env0 step: 113 / 600 [collect] demo=0 step=114/600 +env0 step: 114 / 600 [collect] demo=0 step=115/600 +env0 step: 115 / 600 [collect] demo=0 step=116/600 +env0 step: 116 / 600 [collect] demo=0 step=117/600 +env0 step: 117 / 600 [collect] demo=0 step=118/600 +env0 step: 118 / 600 [collect] demo=0 step=119/600 +env0 step: 119 / 600 [collect] demo=0 step=120/600 +env0 step: 120 / 600 [collect] demo=0 step=121/600 +env0 step: 121 / 600 [collect] demo=0 step=122/600 +env0 step: 122 / 600 [collect] demo=0 step=123/600 +env0 step: 123 / 600 [collect] demo=0 step=124/600 +env0 step: 124 / 600 [collect][auto_swap_T] left_transport step=20 xy=0.1634 z=0.0002 yaw_deg=172.47 +[collect] demo=0 step=125/600 +env0 step: 125 / 600 [collect] demo=0 step=126/600 +env0 step: 126 / 600 [collect] demo=0 step=127/600 +env0 step: 127 / 600 [collect] demo=0 step=128/600 +env0 step: 128 / 600 [collect] demo=0 step=129/600 +env0 step: 129 / 600 [collect] demo=0 step=130/600 +env0 step: 130 / 600 [collect] demo=0 step=131/600 +env0 step: 131 / 600 [collect] demo=0 step=132/600 +env0 step: 132 / 600 [collect] demo=0 step=133/600 +env0 step: 133 / 600 [collect] demo=0 step=134/600 +env0 step: 134 / 600 [collect] demo=0 step=135/600 +env0 step: 135 / 600 [collect] demo=0 step=136/600 +env0 step: 136 / 600 [collect] demo=0 step=137/600 +env0 step: 137 / 600 [collect] demo=0 step=138/600 +env0 step: 138 / 600 [collect] demo=0 step=139/600 +env0 step: 139 / 600 [collect] demo=0 step=140/600 +env0 step: 140 / 600 [collect] demo=0 step=141/600 +env0 step: 141 / 600 [collect] demo=0 step=142/600 +env0 step: 142 / 600 [collect] demo=0 step=143/600 +env0 step: 143 / 600 [collect] demo=0 step=144/600 +env0 step: 144 / 600 [collect][auto_swap_T] left_transport step=40 xy=0.0603 z=0.0003 yaw_deg=172.32 +[collect] demo=0 step=145/600 +env0 step: 145 / 600 [collect] demo=0 step=146/600 +env0 step: 146 / 600 [collect] demo=0 step=147/600 +env0 step: 147 / 600 [collect] demo=0 step=148/600 +env0 step: 148 / 600 [collect] demo=0 step=149/600 +env0 step: 149 / 600 [collect] demo=0 step=150/600 +env0 step: 150 / 600 [collect] demo=0 step=151/600 +env0 step: 151 / 600 [collect] demo=0 step=152/600 +env0 step: 152 / 600 [collect] demo=0 step=153/600 +env0 step: 153 / 600 [collect] demo=0 step=154/600 +env0 step: 154 / 600 [collect] demo=0 step=155/600 +env0 step: 155 / 600 [collect] demo=0 step=156/600 +env0 step: 156 / 600 [collect] demo=0 step=157/600 +env0 step: 157 / 600 [collect] demo=0 step=158/600 +env0 step: 158 / 600 [collect] demo=0 step=159/600 +env0 step: 159 / 600 [collect] demo=0 step=160/600 +env0 step: 160 / 600 [collect] demo=0 step=161/600 +env0 step: 161 / 600 [collect] demo=0 step=162/600 +env0 step: 162 / 600 [collect] demo=0 step=163/600 +env0 step: 163 / 600 [collect] demo=0 step=164/600 +env0 step: 164 / 600 [collect][auto_swap_T] left_transport step=60 xy=0.0132 z=0.0008 yaw_deg=164.96 +[collect] demo=0 step=165/600 +env0 step: 165 / 600 [collect] demo=0 step=166/600 +env0 step: 166 / 600 [collect] demo=0 step=167/600 +env0 step: 167 / 600 [collect] demo=0 step=168/600 +env0 step: 168 / 600 [collect][auto_swap_T] left_transport step=64 xy=0.0057 z=0.0011 yaw_deg=163.14 +[collect] demo=0 step=169/600 +env0 step: 169 / 600 [collect] demo=0 step=170/600 +env0 step: 170 / 600 [collect] demo=0 step=171/600 +env0 step: 171 / 600 [collect] demo=0 step=172/600 +env0 step: 172 / 600 [collect][auto_swap_T] left_feedback rotate_at_target +[collect] demo=0 step=173/600 +env0 step: 173 / 600 [collect] demo=0 step=174/600 +env0 step: 174 / 600 [collect] demo=0 step=175/600 +env0 step: 175 / 600 [collect] demo=0 step=176/600 +env0 step: 176 / 600 [collect] demo=0 step=177/600 +env0 step: 177 / 600 [collect] demo=0 step=178/600 +env0 step: 178 / 600 [collect] demo=0 step=179/600 +env0 step: 179 / 600 [collect] demo=0 step=180/600 +env0 step: 180 / 600 [collect] demo=0 step=181/600 +env0 step: 181 / 600 [collect] demo=0 step=182/600 +env0 step: 182 / 600 [collect] demo=0 step=183/600 +env0 step: 183 / 600 [collect] demo=0 step=184/600 +env0 step: 184 / 600 [collect][auto_swap_T] left_rotate step=80 xy=0.0009 z=0.0002 yaw_deg=132.73 +[collect] demo=0 step=185/600 +env0 step: 185 / 600 [collect] demo=0 step=186/600 +env0 step: 186 / 600 [collect] demo=0 step=187/600 +env0 step: 187 / 600 [collect] demo=0 step=188/600 +env0 step: 188 / 600 [collect] demo=0 step=189/600 +env0 step: 189 / 600 [collect] demo=0 step=190/600 +env0 step: 190 / 600 [collect] demo=0 step=191/600 +env0 step: 191 / 600 [collect] demo=0 step=192/600 +env0 step: 192 / 600 [collect] demo=0 step=193/600 +env0 step: 193 / 600 [collect] demo=0 step=194/600 +env0 step: 194 / 600 [collect] demo=0 step=195/600 +env0 step: 195 / 600 [collect] demo=0 step=196/600 +env0 step: 196 / 600 [collect] demo=0 step=197/600 +env0 step: 197 / 600 [collect] demo=0 step=198/600 +env0 step: 198 / 600 [collect] demo=0 step=199/600 +env0 step: 199 / 600 [collect] demo=0 step=200/600 +env0 step: 200 / 600 [collect] demo=0 step=201/600 +env0 step: 201 / 600 [collect] demo=0 step=202/600 +env0 step: 202 / 600 [collect] demo=0 step=203/600 +env0 step: 203 / 600 [collect] demo=0 step=204/600 +env0 step: 204 / 600 [collect][auto_swap_T] left_rotate step=100 xy=0.0006 z=0.0002 yaw_deg=83.12 +[collect] demo=0 step=205/600 +env0 step: 205 / 600 [collect] demo=0 step=206/600 +env0 step: 206 / 600 [collect] demo=0 step=207/600 +env0 step: 207 / 600 [collect] demo=0 step=208/600 +env0 step: 208 / 600 [collect] demo=0 step=209/600 +env0 step: 209 / 600 [collect] demo=0 step=210/600 +env0 step: 210 / 600 [collect] demo=0 step=211/600 +env0 step: 211 / 600 [collect] demo=0 step=212/600 +env0 step: 212 / 600 [collect] demo=0 step=213/600 +env0 step: 213 / 600 [collect] demo=0 step=214/600 +env0 step: 214 / 600 [collect] demo=0 step=215/600 +env0 step: 215 / 600 [collect] demo=0 step=216/600 +env0 step: 216 / 600 [collect] demo=0 step=217/600 +env0 step: 217 / 600 [collect] demo=0 step=218/600 +env0 step: 218 / 600 [collect] demo=0 step=219/600 +env0 step: 219 / 600 [collect] demo=0 step=220/600 +env0 step: 220 / 600 [collect] demo=0 step=221/600 +env0 step: 221 / 600 [collect] demo=0 step=222/600 +env0 step: 222 / 600 [collect] demo=0 step=223/600 +env0 step: 223 / 600 [collect] demo=0 step=224/600 +env0 step: 224 / 600 [collect][auto_swap_T] left_rotate step=120 xy=0.0006 z=0.0002 yaw_deg=48.06 +[collect] demo=0 step=225/600 +env0 step: 225 / 600 [collect] demo=0 step=226/600 +env0 step: 226 / 600 [collect] demo=0 step=227/600 +env0 step: 227 / 600 [collect] demo=0 step=228/600 +env0 step: 228 / 600 [collect] demo=0 step=229/600 +env0 step: 229 / 600 [collect] demo=0 step=230/600 +env0 step: 230 / 600 [collect] demo=0 step=231/600 +env0 step: 231 / 600 [collect] demo=0 step=232/600 +env0 step: 232 / 600 [collect] demo=0 step=233/600 +env0 step: 233 / 600 [collect] demo=0 step=234/600 +env0 step: 234 / 600 [collect] demo=0 step=235/600 +env0 step: 235 / 600 [collect] demo=0 step=236/600 +env0 step: 236 / 600 [collect] demo=0 step=237/600 +env0 step: 237 / 600 [collect] demo=0 step=238/600 +env0 step: 238 / 600 [collect] demo=0 step=239/600 +env0 step: 239 / 600 [collect] demo=0 step=240/600 +env0 step: 240 / 600 [collect] demo=0 step=241/600 +env0 step: 241 / 600 [collect] demo=0 step=242/600 +env0 step: 242 / 600 [collect] demo=0 step=243/600 +env0 step: 243 / 600 [collect] demo=0 step=244/600 +env0 step: 244 / 600 [collect][auto_swap_T] left_rotate step=140 xy=0.0007 z=0.0001 yaw_deg=12.94 +[collect] demo=0 step=245/600 +env0 step: 245 / 600 [collect] demo=0 step=246/600 +env0 step: 246 / 600 [collect] demo=0 step=247/600 +env0 step: 247 / 600 [collect] demo=0 step=248/600 +env0 step: 248 / 600 [collect] demo=0 step=249/600 +env0 step: 249 / 600 [collect] demo=0 step=250/600 +env0 step: 250 / 600 [collect] demo=0 step=251/600 +env0 step: 251 / 600 [collect][auto_swap_T] left_rotate step=147 xy=0.0008 z=0.0001 yaw_deg=0.68 +[collect] demo=0 step=252/600 +env0 step: 252 / 600 [collect] demo=0 step=253/600 +env0 step: 253 / 600 [collect] demo=0 step=254/600 +env0 step: 254 / 600 [collect] demo=0 step=255/600 +env0 step: 255 / 600 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=256/600 +env0 step: 256 / 600 [collect][auto_swap_T] left_align step=152 xy=0.0023 z=0.0008 yaw_deg=-0.03 +[collect] demo=0 step=257/600 +env0 step: 257 / 600 [collect] demo=0 step=258/600 +env0 step: 258 / 600 [collect] demo=0 step=259/600 +env0 step: 259 / 600 [collect] demo=0 step=260/600 +env0 step: 260 / 600 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=261/600 +env0 step: 261 / 600 [collect][auto_swap_T] left_release step=157 xy=0.0001 z=0.0000 yaw_deg=-0.02 +[collect] demo=0 step=262/600 +env0 step: 262 / 600 [collect] demo=0 step=263/600 +env0 step: 263 / 600 [collect] demo=0 step=264/600 +env0 step: 264 / 600 [collect][auto_swap_T] left_release step=160 xy=0.0002 z=0.0000 yaw_deg=-0.07 +[collect] demo=0 step=265/600 +env0 step: 265 / 600 [collect] demo=0 step=266/600 +env0 step: 266 / 600 [collect] demo=0 step=267/600 +env0 step: 267 / 600 [collect] demo=0 step=268/600 +env0 step: 268 / 600 [collect] demo=0 step=269/600 +env0 step: 269 / 600 [collect] demo=0 step=270/600 +env0 step: 270 / 600 [collect] demo=0 step=271/600 +env0 step: 271 / 600 [collect] demo=0 step=272/600 +env0 step: 272 / 600 [collect] demo=0 step=273/600 +env0 step: 273 / 600 [collect] demo=0 step=274/600 +env0 step: 274 / 600 [collect] demo=0 step=275/600 +env0 step: 275 / 600 [collect][auto_swap_T] left_feedback released center=[0.07699999958276749, -0.1745000034570694, 0.7724999785423279] quat=[0.30219998955726624, -0.0, -0.0, 0.9531999826431274] +[collect] demo=0 step=276/600 +env0 step: 276 / 600 [collect] demo=0 step=277/600 +env0 step: 277 / 600 [collect] demo=0 step=278/600 +env0 step: 278 / 600 [collect] demo=0 step=279/600 +env0 step: 279 / 600 [collect] demo=0 step=280/600 +env0 step: 280 / 600 [collect] demo=0 step=281/600 +env0 step: 281 / 600 [collect] demo=0 step=282/600 +env0 step: 282 / 600 [collect] demo=0 step=283/600 +env0 step: 283 / 600 [collect] demo=0 step=284/600 +env0 step: 284 / 600 [collect][auto_swap_T] captured_right_grasp object_center=[0.25290000438690186, -0.14589999616146088, 0.7734000086784363] lifted=0.0009 ee_to_object_pos=[0.14910000562667847, -0.0003000000142492354, -0.01730000041425228] +[collect][auto_swap_T] right_detour obstacle=[0.07750000059604645, -0.17479999363422394, 0.7724999785423279] waypoint=[0.05339999869465828, -0.006800000090152025, 0.79339998960495] clearance=0.1697 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.065700002014637, -0.19519999623298645, 0.7724999785423279] waypoints=61 +[collect][auto_swap_T] phase=right_place waypoints=61 +[collect] demo=0 step=285/600 +env0 step: 285 / 600 [collect] demo=0 step=286/600 +env0 step: 286 / 600 [collect] demo=0 step=287/600 +env0 step: 287 / 600 [collect] demo=0 step=288/600 +env0 step: 288 / 600 [collect] demo=0 step=289/600 +env0 step: 289 / 600 [collect] demo=0 step=290/600 +env0 step: 290 / 600 [collect] demo=0 step=291/600 +env0 step: 291 / 600 [collect] demo=0 step=292/600 +env0 step: 292 / 600 [collect] demo=0 step=293/600 +env0 step: 293 / 600 [collect] demo=0 step=294/600 +env0 step: 294 / 600 [collect] demo=0 step=295/600 +env0 step: 295 / 600 [collect] demo=0 step=296/600 +env0 step: 296 / 600 [collect] demo=0 step=297/600 +env0 step: 297 / 600 [collect] demo=0 step=298/600 +env0 step: 298 / 600 [collect] demo=0 step=299/600 +env0 step: 299 / 600 [collect] demo=0 step=300/600 +env0 step: 300 / 600 [collect] demo=0 step=301/600 +env0 step: 301 / 600 [collect] demo=0 step=302/600 +env0 step: 302 / 600 [collect] demo=0 step=303/600 +env0 step: 303 / 600 [collect] demo=0 step=304/600 +env0 step: 304 / 600 [collect] demo=0 step=305/600 +env0 step: 305 / 600 [collect] demo=0 step=306/600 +env0 step: 306 / 600 [collect] demo=0 step=307/600 +env0 step: 307 / 600 [collect] demo=0 step=308/600 +env0 step: 308 / 600 [collect] demo=0 step=309/600 +env0 step: 309 / 600 [collect] demo=0 step=310/600 +env0 step: 310 / 600 [collect] demo=0 step=311/600 +env0 step: 311 / 600 [collect] demo=0 step=312/600 +env0 step: 312 / 600 [collect] demo=0 step=313/600 +env0 step: 313 / 600 [collect] demo=0 step=314/600 +env0 step: 314 / 600 [collect] demo=0 step=315/600 +env0 step: 315 / 600 [collect] demo=0 step=316/600 +env0 step: 316 / 600 [collect] demo=0 step=317/600 +env0 step: 317 / 600 [collect] demo=0 step=318/600 +env0 step: 318 / 600 [collect] demo=0 step=319/600 +env0 step: 319 / 600 [collect] demo=0 step=320/600 +env0 step: 320 / 600 [collect] demo=0 step=321/600 +env0 step: 321 / 600 [collect] demo=0 step=322/600 +env0 step: 322 / 600 [collect] demo=0 step=323/600 +env0 step: 323 / 600 [collect] demo=0 step=324/600 +env0 step: 324 / 600 [collect] demo=0 step=325/600 +env0 step: 325 / 600 [collect] demo=0 step=326/600 +env0 step: 326 / 600 [collect] demo=0 step=327/600 +env0 step: 327 / 600 [collect] demo=0 step=328/600 +env0 step: 328 / 600 [collect] demo=0 step=329/600 +env0 step: 329 / 600 [collect] demo=0 step=330/600 +env0 step: 330 / 600 [collect] demo=0 step=331/600 +env0 step: 331 / 600 [collect] demo=0 step=332/600 +env0 step: 332 / 600 [collect] demo=0 step=333/600 +env0 step: 333 / 600 [collect] demo=0 step=334/600 +env0 step: 334 / 600 [collect] demo=0 step=335/600 +env0 step: 335 / 600 [collect] demo=0 step=336/600 +env0 step: 336 / 600 [collect] demo=0 step=337/600 +env0 step: 337 / 600 [collect] demo=0 step=338/600 +env0 step: 338 / 600 [collect] demo=0 step=339/600 +env0 step: 339 / 600 [collect] demo=0 step=340/600 +env0 step: 340 / 600 [collect] demo=0 step=341/600 +env0 step: 341 / 600 [collect] demo=0 step=342/600 +env0 step: 342 / 600 [collect] demo=0 step=343/600 +env0 step: 343 / 600 [collect] demo=0 step=344/600 +env0 step: 344 / 600 [collect] demo=0 step=345/600 +env0 step: 345 / 600 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.04 +[collect] demo=0 step=346/600 +env0 step: 346 / 600 [collect] demo=0 step=347/600 +env0 step: 347 / 600 [collect] demo=0 step=348/600 +env0 step: 348 / 600 [collect] demo=0 step=349/600 +env0 step: 349 / 600 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=350/600 +env0 step: 350 / 600 [collect][auto_swap_T] right_align step=6 xy=0.0038 z=0.0040 yaw_deg=-0.02 +[collect] demo=0 step=351/600 +env0 step: 351 / 600 [collect] demo=0 step=352/600 +env0 step: 352 / 600 [collect] demo=0 step=353/600 +env0 step: 353 / 600 [collect] demo=0 step=354/600 +env0 step: 354 / 600 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=355/600 +env0 step: 355 / 600 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0005 yaw_deg=-0.02 +[collect] demo=0 step=356/600 +env0 step: 356 / 600 [collect] demo=0 step=357/600 +env0 step: 357 / 600 [collect] demo=0 step=358/600 +env0 step: 358 / 600 [collect] demo=0 step=359/600 +env0 step: 359 / 600 [collect] demo=0 step=360/600 +env0 step: 360 / 600 [collect] demo=0 step=361/600 +env0 step: 361 / 600 [collect] demo=0 step=362/600 +env0 step: 362 / 600 [collect] demo=0 step=363/600 +env0 step: 363 / 600 [collect] demo=0 step=364/600 +env0 step: 364 / 600 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.09 +[collect] demo=0 step=365/600 +env0 step: 365 / 600 [collect] demo=0 step=366/600 +env0 step: 366 / 600 [collect] demo=0 step=367/600 +env0 step: 367 / 600 [collect] demo=0 step=368/600 +env0 step: 368 / 600 [collect] demo=0 step=369/600 +env0 step: 369 / 600 [collect][auto_swap_T] right_feedback released center=[-0.06530000269412994, -0.19539999961853027, 0.7724999785423279] quat=[0.9966999888420105, -0.0, -0.0, -0.08079999685287476] +[collect] demo=0 step=370/600 +env0 step: 370 / 600 [collect] demo=0 step=371/600 +env0 step: 371 / 600 [collect] demo=0 step=372/600 +env0 step: 372 / 600 [collect] demo=0 step=373/600 +env0 step: 373 / 600 [collect] demo=0 step=374/600 +env0 step: 374 / 600 [collect] demo=0 step=375/600 +env0 step: 375 / 600 [collect] demo=0 step=376/600 +env0 step: 376 / 600 [collect] demo=0 step=377/600 +env0 step: 377 / 600 [collect] demo=0 step=378/600 +env0 step: 378 / 600 [collect][auto_swap_T] adaptive_end checker_terms=[1.0, 1.0, 1.0, 1.0, 0.0] +[collect] demo=0 step=379/600 +env0 step: 379 / 600 [collect] demo=0 step=380/600 +env0 step: 380 / 600 [collect] demo=0 step=381/600 +env0 step: 381 / 600 [collect] demo=0 step=382/600 +env0 step: 382 / 600 [collect] demo=0 step=383/600 +env0 step: 383 / 600 [collect] demo=0 step=384/600 +env0 step: 384 / 600 [collect] demo=0 step=385/600 +env0 step: 385 / 600 [collect] demo=0 step=386/600 +env0 step: 386 / 600 [collect] demo=0 step=387/600 +env0 step: 387 / 600 [collect] demo=0 step=388/600 +env0 step: 388 / 600 [collect] demo=0 step=389/600 +env0 step: 389 / 600 [collect][swap_T_debug] {'t0': {'pos': [0.076995, -0.174469, 0.7725], 'quat': [0.302218, 0.0, 1e-06, 0.953239]}, 't1': {'pos': [-0.065349, -0.195415, 0.7725], 'quat': [0.996729, -1e-06, -0.0, -0.08082]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_rightliftv17_seed3_diag600b.hdf5 +2026-07-23T22:07:49Z [171,166ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T22:07:49Z [171,166ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[171.589s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed15_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed15_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..852713bdaf8c1a50933f9fe90af30e837b55298c --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed15_diag700.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_070646.log +[0.078s] [ext: omni.kit.async_engine-0.0.3] startup +[0.222s] [ext: omni.metrics.core-0.0.3] startup +[0.223s] [ext: omni.client.lib-1.1.0] startup +[0.239s] [ext: omni.blobkey-1.1.2] startup +[0.239s] [ext: omni.stats-1.0.1] startup +[0.240s] [ext: omni.datastore-0.0.0] startup +[0.247s] [ext: omni.client-1.3.0] startup +[0.254s] [ext: omni.ujitso.default-1.0.0] startup +[0.256s] [ext: omni.hsscclient-1.1.2] startup +[0.293s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.296s] [ext: omni.assets.plugins-0.0.0] startup +[0.297s] [ext: omni.gpu_foundation-0.0.0] startup +[0.304s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:06:47Z [273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:06:47Z [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) +[0.305s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:06:47Z [363ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:06:47Z [371ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:06:47Z [372ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:06:47Z [372ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:06:47Z [423ms] [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. +2026-07-23T23:06:47Z [1,171ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:06:47Z [1,171ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:06:47Z [1,172ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:06:47Z [1,172ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:06:47Z [1,173ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:06:47Z [1,174ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:06:47Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:06:47Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:06:47Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:06:47Z [1,175ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:06:47Z [1,175ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:06:47Z [1,175ms] [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: 13820 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.963s] [ext: omni.materialx.libs-1.0.7] startup +[1.973s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.974s] [ext: omni.kit.test-2.0.1] startup +[2.021s] [ext: omni.kit.pipapi-0.0.0] startup +[2.022s] [ext: omni.usd.config-1.0.6] startup +[2.025s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.026s] [ext: omni.usd.libs-1.0.1] startup +[2.138s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.139s] [ext: omni.mdl-56.0.3] startup +[2.162s] [ext: omni.iray.libs-0.0.0] startup +[2.168s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.170s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.278s] [ext: omni.kit.telemetry-0.5.2] startup +[2.335s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:06:49Z [2,305ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:06:49Z [2,305ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.340s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:06:49Z [2,327ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:06:49Z [2,327ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:06:49Z [2,336ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:06:49Z [2,336ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.370s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.373s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:06:49Z [2,344ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:06:49Z [2,344ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:06:49Z [2,346ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:06:49Z [2,346ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:06:49Z [2,347ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:06:49Z [2,347ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.484s] [ext: omni.ui-2.27.1] startup +[2.495s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.496s] [ext: carb.audio-0.1.0] startup +[2.526s] [ext: omni.uiaudio-1.0.0] startup +[2.527s] [ext: omni.kit.uiapp-0.0.0] startup +[2.527s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.530s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.537s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.540s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.544s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.547s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.571s] [ext: omni.usd_resolver-1.0.0] startup +[2.576s] [ext: omni.usd.core-1.5.3] startup +[2.579s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.605s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.615s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.650s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.650s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.651s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.656s] [ext: omni.graph.exec-0.9.6] startup +[2.657s] [ext: omni.kit.actions.core-1.0.0] startup +[2.659s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.660s] [ext: omni.kit.exec.core-0.13.4] startup +[2.661s] [ext: omni.kit.commands-1.4.10] startup +[2.665s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.669s] [ext: omni.activity.core-1.0.3] startup +[2.671s] [ext: omni.resourcemonitor-107.0.1] startup +[2.674s] [ext: omni.timeline-1.0.14] startup +[2.676s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.678s] [ext: usdrt.scenegraph-7.6.1] startup +[2.721s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.722s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.731s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.737s] [ext: omni.usd-1.13.10] startup +[2.767s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.781s] [ext: omni.index.libs-380600.8087.0] startup +[2.781s] [ext: omni.volume-0.5.2] startup +[2.784s] [ext: omni.ujitso.client-0.0.0] startup +[2.785s] [ext: omni.index-1.0.1] startup +[2.785s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.787s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:06:49Z [2,777ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.828s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.830s] [ext: omni.kit.clipboard-1.0.5] startup +[2.831s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.834s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.841s] [ext: omni.kit.menu.core-1.1.2] startup +[2.842s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.845s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.847s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.847s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.849s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.849s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.853s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.854s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.863s] [ext: omni.ui.scene-1.11.5] startup +[2.868s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.868s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.885s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.893s] [ext: omni.kit.context_menu-1.8.6] startup +[2.895s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.901s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.906s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.909s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.910s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.911s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.915s] [ext: omni.kit.material.library-2.0.7] startup +[2.922s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.925s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.927s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.943s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.948s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.953s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.954s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.959s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.965s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.966s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.968s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.971s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.972s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.973s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.979s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.983s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.983s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.986s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.987s] [ext: omni.fabric.commands-1.1.6] startup +[2.989s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.990s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.992s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.993s] [ext: omni.debugdraw-0.1.4] startup +[2.998s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.010s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.011s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.011s] [ext: omni.kvdb-107.3.26] startup +[3.013s] [ext: omni.convexdecomposition-107.3.26] startup +[3.016s] [ext: omni.physx.foundation-107.3.26] startup +[3.018s] [ext: omni.localcache-107.3.26] startup +[3.019s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.020s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.021s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.021s] [ext: omni.usdphysics-107.3.26] startup +[3.024s] [ext: omni.kit.window.file-2.0.5] startup +[3.027s] [ext: omni.physx.cooking-107.3.26] startup +[3.031s] [ext: omni.physics-107.3.26] startup +[3.034s] [ext: omni.kit.window.property-1.12.1] startup +[3.038s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.052s] [ext: omni.physx-107.3.26] startup +[3.065s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.067s] [ext: omni.kit.property.usd-4.5.12] startup +[3.080s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.082s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:06:49Z [3,051ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.084s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.085s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.101s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.106s] [ext: omni.inspect-1.0.2] startup +[3.107s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.120s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.122s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.130s] [ext: omni.graph.core-2.184.5] startup +[3.134s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.135s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.169s] [ext: omni.physx.commands-107.3.26] startup +[3.173s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.174s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:06:49Z [3,148ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.181s] [ext: omni.physx.ui-107.3.26] startup +[3.218s] [ext: isaacsim.core.version-2.0.6] startup +[3.218s] [ext: omni.physics.tensors-107.3.26] startup +[3.223s] [ext: omni.warp.core-1.8.2] startup +[3.435s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.439s] [ext: isaacsim.storage.native-1.5.1] startup +[3.442s] [ext: omni.physx.tensors-107.3.26] startup +[3.452s] [ext: isaacsim.core.utils-3.5.1] startup +[3.455s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.007s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.009s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.011s] [ext: omni.kit.window.stage-2.6.1] startup +[5.015s] [ext: omni.kit.menu.create-2.0.1] startup +[5.017s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.023s] [ext: omni.kit.scripting-107.3.2] startup +[5.027s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.030s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.031s] [ext: omni.graph.tools-1.79.2] startup +[5.054s] [ext: omni.ui_query-1.1.8] startup +[5.055s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.056s] [ext: omni.graph-1.141.2] startup +[5.100s] [ext: omni.graph.action_core-1.1.7] startup +[5.102s] [ext: omni.kit.ui_test-1.3.7] startup +[5.105s] [ext: omni.kit.browser.core-2.3.13] startup +[5.112s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.114s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.119s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.127s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.143s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.148s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.169s] [ext: omni.graph.action-1.130.0] startup +[5.178s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.185s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.207s] [ext: isaacsim.gui.components-1.2.1] startup +[5.226s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.237s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.409s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.418s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.428s] [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( +[5.559s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:06:52Z [5,538ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.577s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.577s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.583s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.593s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.598s] [ext: omni.graph.image.core-0.6.1] startup +[5.601s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.602s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.605s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.611s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.616s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.620s] [ext: omni.graph.nodes-1.170.10] startup +[5.636s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.643s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.650s] [ext: omni.syntheticdata-0.6.13] startup +[5.697s] [ext: omni.videoencoding-0.1.2] startup +[5.703s] [ext: omni.warp-1.8.2] startup +[5.709s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.737s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.740s] [ext: isaacsim.core.prims-0.6.1] startup +[5.833s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.855s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:06:52Z [6,171ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:06:52Z [6,171ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:06:52Z [6,175ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.216s] [ext: isaacsim.core.api-4.8.0] startup +[6.279s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.489s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.520s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.539s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.558s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.609s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.640s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.735s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.759s] [ext: omni.sensors.net-1.0.0] startup +[6.789s] [ext: isaacsim.app.about-2.0.11] startup +[6.826s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.828s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.841s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.907s] [ext: omni.kit.property.audio-1.0.16] startup +[6.926s] [ext: omni.kit.property.camera-1.0.10] startup +[6.940s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.059s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.094s] [ext: omni.kit.property.light-1.0.12] startup +[7.170s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.182s] [ext: omni.kit.selection-0.1.6] startup +[7.223s] [ext: omni.kit.property.material-1.11.9] startup +[7.555s] [ext: omni.kit.property.transform-1.5.13] startup +[7.703s] [ext: omni.kit.property.render-1.2.1] startup +[7.725s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.740s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.797s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.835s] [ext: isaacsim.gui.property-1.1.3] startup +[7.856s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.863s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.892s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.913s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.944s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.968s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.988s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.998s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.002s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.024s] [ext: omni.kit.window.console-1.1.4] startup +[8.039s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.055s] [ext: omni.ocio-0.1.1] startup +[8.063s] [ext: omni.physx.demos-107.3.26] startup +[8.112s] [ext: omni.kit.property.physx-107.3.26] startup +[8.160s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.191s] [ext: omni.asset_validator.core-1.1.6] startup +[8.295s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.302s] [ext: omni.physx.vehicle-107.3.26] startup +[8.325s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.340s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.346s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.355s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.369s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.377s] [ext: omni.physx.camera-107.3.26] startup +[8.397s] [ext: omni.anim.curve.core-1.3.1] startup +[8.415s] [ext: omni.physx.cct-107.3.26] startup +[8.432s] [ext: omni.physx.graph-107.3.26] startup +[8.453s] [ext: omni.physx.supportui-107.3.26] startup +[8.497s] [ext: omni.physx.telemetry-107.3.26] startup +[8.513s] [ext: isaaclab-0.54.3] startup +[8.881s] [ext: isaaclab_contrib-0.0.2] startup +[8.885s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.888s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.894s] [ext: semantics.schema.property-2.0.1] startup +[8.898s] [ext: omni.physx.bundle-107.3.26] startup +[8.902s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.909s] [ext: isaaclab_assets-0.2.4] startup +[9.240s] [ext: isaaclab_tasks-0.11.14] startup +[9.415s] [ext: omni.kit.menu.common-2.0.1] startup +[9.418s] [ext: isaaclab_rl-0.5.0] startup +[9.422s] [ext: isaaclab_mimic-1.0.16] startup +[9.424s] [ext: isaaclab.python-2.3.2] startup +[9.428s] Simulation App Starting +2026-07-23T23:06:56Z [9,490ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:06:56Z [9,495ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:06:56Z [9,495ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:06:56Z [9,495ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:06:56Z [9,528ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +2026-07-23T23:06:56Z [9,579ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-23T23:06:56Z [9,579ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-07-23T23:06:56Z [9,579ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +[9.627s] app ready +2026-07-23T23:06:57Z [10,263ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:06:57Z [10,263ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:06:57Z [10,263ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:06:57Z [10,263ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.888s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=15 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=15 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-07-19.log +====================================================================================== + +07:07:19 [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 : 15 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:07:20Z [33,392ms] [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 +2026-07-23T23:07:20Z [33,498ms] [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. +2026-07-23T23:07:20Z [33,514ms] [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. +2026-07-23T23:07:20Z [33,526ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +[INFO]: Time taken for scene creation : 0.462529 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:07:20Z [33,540ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +2026-07-23T23:07:20Z [33,547ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +2026-07-23T23:07:20Z [34,041ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +2026-07-23T23:07:20Z [34,041ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +2026-07-23T23:07:20Z [34,045ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +2026-07-23T23:07:20Z [34,045ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +2026-07-23T23:07:20Z [34,046ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +2026-07-23T23:07:20Z [34,046ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55bf8e4bd0f0:World0.usd@ <0x55bf8e4be0f0>) + +[INFO]: Time taken for simulation start : 0.744737 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:07:30Z [43,322ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:07:30Z [43,635ms] [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 +2026-07-23T23:07:30Z [43,635ms] [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 +2026-07-23T23:07:30Z [43,635ms] [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 +2026-07-23T23:07:30Z [43,635ms] [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 +2026-07-23T23:07:41Z [55,164ms] [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=15 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.06890600174665451, -0.19005799293518066, 0.7724999785423279], 'quat': [0.8198279738426208, -0.0, 9.999999974752427e-07, -0.572609007358551]}, 't1': {'center': [0.053693998605012894, -0.1814499944448471, 0.7724999785423279], 'quat': [-0.6401969790458679, 9.999999974752427e-07, -9.999999974752427e-07, 0.7682099938392639]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.06889999657869339, -0.19009999930858612, 0.7724999785423279] pick_tcp=[-0.06549999862909317, -0.19939999282360077, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0120 tracking_error=0.0151 gripper_position=0.3756 secured=True +[collect][auto_swap_T] left_stage observed=[-0.08009999990463257, -0.18569999933242798, 0.7724999785423279] target=[-0.18860000371932983, -0.19850000739097595, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1104 tracking_error=0.0053 gripper_position=0.1535 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19020000100135803, -0.19339999556541443, 0.7731999754905701] lifted=0.0007 ee_to_object_pos=[0.15129999816417694, -0.0005000000237487257, 0.012400000356137753] +[collect][auto_swap_T] right_pick label=t1 center=[0.053700000047683716, -0.18140000104904175, 0.7724999785423279] pick_tcp=[0.051899999380111694, -0.19130000472068787, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0086 tracking_error=0.0172 gripper_position=0.2579 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.061500001698732376, -0.17810000479221344, 0.7731000185012817] target=[0.17339999973773956, -0.17299999296665192, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1169 tracking_error=0.0051 gripper_position=0.1640 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.17820000648498535, -0.17139999568462372, 0.7730000019073486] lifted=0.0005 ee_to_object_pos=[0.15049999952316284, 9.999999747378752e-05, 0.005200000014156103] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=0.54 +[collect][auto_swap_T] left_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.54 +[collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect][auto_swap_T] left_align step=20 xy=0.1840 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect][auto_swap_T] left_align step=40 xy=0.0988 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect][auto_swap_T] left_align step=60 xy=0.0292 z=0.0001 yaw_deg=-0.58 +[collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect][auto_swap_T] left_align step=80 xy=0.0085 z=0.0009 yaw_deg=-0.72 +[collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect][auto_swap_T] left_align step=87 xy=0.0037 z=0.0008 yaw_deg=-0.50 +[collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect][auto_swap_T] left_release step=92 xy=0.0019 z=0.0005 yaw_deg=-0.26 +[collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect][auto_swap_T] left_release step=100 xy=0.0008 z=0.0040 yaw_deg=-0.88 +[collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect][auto_swap_T] left_feedback released center=[0.05299999937415123, -0.18119999766349792, 0.7724999785423279] quat=[-0.6460999846458435, 0.0, -0.0, 0.7633000016212463] +[collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.2240000069141388, -0.18080000579357147, 0.7731000185012817] lifted=0.0006 ee_to_object_pos=[0.15000000596046448, -0.0, 0.005799999926239252] +[collect][auto_swap_T] right_detour obstacle=[0.053700000047683716, -0.18140000104904175, 0.7724999785423279] waypoint=[0.06430000066757202, -0.3325999975204468, 0.7930999994277954] clearance=0.1515 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.06889999657869339, -0.19009999930858612, 0.7724999785423279] waypoints=69 +[collect][auto_swap_T] phase=right_place waypoints=69 +[collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.05 +[collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0006 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.02 +[collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.06 +[collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect][auto_swap_T] right_feedback released center=[-0.06889999657869339, -0.19050000607967377, 0.7724999785423279] quat=[0.8201000094413757, -0.0, 0.0, -0.5722000002861023] +[collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect] demo=0 step=350/700 +env0 step: 350 / 700 [collect] demo=0 step=351/700 +env0 step: 351 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.052963, -0.181212, 0.7725], 'quat': [-0.646096, 2e-06, -1e-06, 0.763256]}, 't1': {'pos': [-0.068884, -0.190458, 0.7725], 'quat': [0.820133, -2e-06, 1e-06, -0.572173]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed15_diag700.hdf5 +2026-07-23T23:09:28Z [162,075ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:09:28Z [162,075ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[162.487s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed24_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed24_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..8ffa5286a2ec81fdf0baa216df641d0118cce7e4 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed24_diag700.log @@ -0,0 +1,822 @@ +[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_071816.log +[0.070s] [ext: omni.kit.async_engine-0.0.3] startup +[0.213s] [ext: omni.metrics.core-0.0.3] startup +[0.213s] [ext: omni.client.lib-1.1.0] startup +[0.229s] [ext: omni.blobkey-1.1.2] startup +[0.229s] [ext: omni.stats-1.0.1] startup +[0.230s] [ext: omni.datastore-0.0.0] startup +[0.236s] [ext: omni.client-1.3.0] startup +[0.242s] [ext: omni.ujitso.default-1.0.0] startup +[0.244s] [ext: omni.hsscclient-1.1.2] startup +[0.266s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.268s] [ext: omni.assets.plugins-0.0.0] startup +[0.270s] [ext: omni.gpu_foundation-0.0.0] startup +[0.277s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:18:16Z [247ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:18:16Z [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) +[0.278s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:18:16Z [335ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:18:16Z [342ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:18:16Z [342ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:18:16Z [342ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:18:17Z [405ms] [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. +2026-07-23T23:18:18Z [1,476ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:18:18Z [1,476ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:18:18Z [1,478ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:18:18Z [1,478ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:18:18Z [1,481ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:18:18Z [1,481ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:18:18Z [1,484ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:18:18Z [1,484ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:18:18Z [1,484ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:18:18Z [1,484ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:18:18Z [1,484ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:18:18Z [1,484ms] [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: 25270 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.266s] [ext: omni.materialx.libs-1.0.7] startup +[2.276s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.277s] [ext: omni.kit.test-2.0.1] startup +[2.323s] [ext: omni.kit.pipapi-0.0.0] startup +[2.324s] [ext: omni.usd.config-1.0.6] startup +[2.327s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.328s] [ext: omni.usd.libs-1.0.1] startup +[2.447s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.447s] [ext: omni.mdl-56.0.3] startup +[2.472s] [ext: omni.iray.libs-0.0.0] startup +[2.478s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.481s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.591s] [ext: omni.kit.telemetry-0.5.2] startup +[2.636s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:18:19Z [2,607ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:18:19Z [2,607ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.640s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:18:19Z [2,631ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:18:19Z [2,631ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:18:19Z [2,643ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:18:19Z [2,643ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.675s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.678s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:18:19Z [2,650ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:18:19Z [2,650ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:18:19Z [2,652ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:18:19Z [2,652ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:18:19Z [2,653ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:18:19Z [2,653ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.782s] [ext: omni.ui-2.27.1] startup +[2.793s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.794s] [ext: carb.audio-0.1.0] startup +[2.822s] [ext: omni.uiaudio-1.0.0] startup +[2.823s] [ext: omni.kit.uiapp-0.0.0] startup +[2.823s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.826s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.833s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.836s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.840s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.843s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.868s] [ext: omni.usd_resolver-1.0.0] startup +[2.872s] [ext: omni.usd.core-1.5.3] startup +[2.876s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.901s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.910s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.947s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.948s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.949s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.954s] [ext: omni.graph.exec-0.9.6] startup +[2.954s] [ext: omni.kit.actions.core-1.0.0] startup +[2.957s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.957s] [ext: omni.kit.exec.core-0.13.4] startup +[2.959s] [ext: omni.kit.commands-1.4.10] startup +[2.963s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.967s] [ext: omni.activity.core-1.0.3] startup +[2.968s] [ext: omni.resourcemonitor-107.0.1] startup +[2.970s] [ext: omni.timeline-1.0.14] startup +[2.972s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.974s] [ext: usdrt.scenegraph-7.6.1] startup +[3.016s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.017s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.026s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.034s] [ext: omni.usd-1.13.10] startup +[3.066s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.080s] [ext: omni.index.libs-380600.8087.0] startup +[3.080s] [ext: omni.volume-0.5.2] startup +[3.082s] [ext: omni.ujitso.client-0.0.0] startup +[3.083s] [ext: omni.index-1.0.1] startup +[3.084s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.085s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:18:19Z [3,077ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.128s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.129s] [ext: omni.kit.clipboard-1.0.5] startup +[3.130s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.134s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.142s] [ext: omni.kit.menu.core-1.1.2] startup +[3.142s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.145s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.147s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.148s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.149s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.150s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.154s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.154s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.163s] [ext: omni.ui.scene-1.11.5] startup +[3.169s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.169s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.186s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.195s] [ext: omni.kit.context_menu-1.8.6] startup +[3.197s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.203s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.208s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.210s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.211s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.212s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.216s] [ext: omni.kit.material.library-2.0.7] startup +[3.223s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.227s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.230s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.253s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.260s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.267s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.268s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.274s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.279s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.281s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.284s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.286s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.287s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.289s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.298s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.342s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.343s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.345s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.346s] [ext: omni.fabric.commands-1.1.6] startup +[3.349s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.351s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.353s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.354s] [ext: omni.debugdraw-0.1.4] startup +[3.359s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.372s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.373s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.373s] [ext: omni.kvdb-107.3.26] startup +[3.375s] [ext: omni.convexdecomposition-107.3.26] startup +[3.378s] [ext: omni.physx.foundation-107.3.26] startup +[3.380s] [ext: omni.localcache-107.3.26] startup +[3.382s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.382s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.383s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.384s] [ext: omni.usdphysics-107.3.26] startup +[3.387s] [ext: omni.kit.window.file-2.0.5] startup +[3.390s] [ext: omni.physx.cooking-107.3.26] startup +[3.395s] [ext: omni.physics-107.3.26] startup +[3.439s] [ext: omni.kit.window.property-1.12.1] startup +[3.441s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.454s] [ext: omni.physx-107.3.26] startup +[3.465s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.468s] [ext: omni.kit.property.usd-4.5.12] startup +[3.478s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.479s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:18:20Z [3,451ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.482s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.483s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.498s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.502s] [ext: omni.inspect-1.0.2] startup +[3.503s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.515s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.516s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.523s] [ext: omni.graph.core-2.184.5] startup +[3.527s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.528s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.558s] [ext: omni.physx.commands-107.3.26] startup +[3.564s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.566s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:18:20Z [3,541ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.573s] [ext: omni.physx.ui-107.3.26] startup +[3.611s] [ext: isaacsim.core.version-2.0.6] startup +[3.612s] [ext: omni.physics.tensors-107.3.26] startup +[3.617s] [ext: omni.warp.core-1.8.2] startup +[3.817s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.819s] [ext: isaacsim.storage.native-1.5.1] startup +[3.820s] [ext: omni.physx.tensors-107.3.26] startup +[3.827s] [ext: isaacsim.core.utils-3.5.1] startup +[3.831s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.417s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.421s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.423s] [ext: omni.kit.window.stage-2.6.1] startup +[5.430s] [ext: omni.kit.menu.create-2.0.1] startup +[5.432s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.439s] [ext: omni.kit.scripting-107.3.2] startup +[5.444s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.449s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.449s] [ext: omni.graph.tools-1.79.2] startup +[5.472s] [ext: omni.ui_query-1.1.8] startup +[5.473s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.474s] [ext: omni.graph-1.141.2] startup +[5.520s] [ext: omni.graph.action_core-1.1.7] startup +[5.522s] [ext: omni.kit.ui_test-1.3.7] startup +[5.530s] [ext: omni.kit.browser.core-2.3.13] startup +[5.535s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.540s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.545s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.550s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.566s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.571s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.587s] [ext: omni.graph.action-1.130.0] startup +[5.592s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.596s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.603s] [ext: isaacsim.gui.components-1.2.1] startup +[5.611s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.617s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.840s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.846s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.856s] [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( +[5.968s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:18:22Z [5,947ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.981s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.981s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.987s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.997s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.003s] [ext: omni.graph.image.core-0.6.1] startup +[6.005s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.007s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.011s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.016s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.019s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.021s] [ext: omni.graph.nodes-1.170.10] startup +[6.033s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.039s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.046s] [ext: omni.syntheticdata-0.6.13] startup +[6.092s] [ext: omni.videoencoding-0.1.2] startup +[6.099s] [ext: omni.warp-1.8.2] startup +[6.107s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.142s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.149s] [ext: isaacsim.core.prims-0.6.1] startup +[6.216s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.232s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:18:23Z [6,520ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:18:23Z [6,520ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:18:23Z [6,522ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.558s] [ext: isaacsim.core.api-4.8.0] startup +[6.628s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.679s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.693s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.702s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.712s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.732s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.743s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.759s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.771s] [ext: omni.sensors.net-1.0.0] startup +[6.779s] [ext: isaacsim.app.about-2.0.11] startup +[6.784s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.786s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.793s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.805s] [ext: omni.kit.property.audio-1.0.16] startup +[6.813s] [ext: omni.kit.property.camera-1.0.10] startup +[6.820s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.839s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.860s] [ext: omni.kit.property.light-1.0.12] startup +[6.911s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.917s] [ext: omni.kit.selection-0.1.6] startup +[6.934s] [ext: omni.kit.property.material-1.11.9] startup +[7.040s] [ext: omni.kit.property.transform-1.5.13] startup +[7.057s] [ext: omni.kit.property.render-1.2.1] startup +[7.067s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.083s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.149s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.208s] [ext: isaacsim.gui.property-1.1.3] startup +[7.256s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.276s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.410s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.576s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.999s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.047s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.082s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.100s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.114s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.158s] [ext: omni.kit.window.console-1.1.4] startup +[8.183s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.215s] [ext: omni.ocio-0.1.1] startup +[8.224s] [ext: omni.physx.demos-107.3.26] startup +[8.262s] [ext: omni.kit.property.physx-107.3.26] startup +[8.308s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.330s] [ext: omni.asset_validator.core-1.1.6] startup +[8.397s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.404s] [ext: omni.physx.vehicle-107.3.26] startup +[8.427s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.444s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.450s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.461s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.476s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.484s] [ext: omni.physx.camera-107.3.26] startup +[8.499s] [ext: omni.anim.curve.core-1.3.1] startup +[8.525s] [ext: omni.physx.cct-107.3.26] startup +[8.555s] [ext: omni.physx.graph-107.3.26] startup +[8.588s] [ext: omni.physx.supportui-107.3.26] startup +[8.646s] [ext: omni.physx.telemetry-107.3.26] startup +[8.656s] [ext: isaaclab-0.54.3] startup +[9.032s] [ext: isaaclab_contrib-0.0.2] startup +[9.035s] [ext: isaacsim.core.throttling-2.2.2] startup +[9.038s] [ext: omni.kit.ui.actions-1.0.5] startup +[9.044s] [ext: semantics.schema.property-2.0.1] startup +[9.048s] [ext: omni.physx.bundle-107.3.26] startup +[9.052s] [ext: isaacsim.sensors.camera-1.3.6] startup +[9.057s] [ext: isaaclab_assets-0.2.4] startup +[9.369s] [ext: isaaclab_tasks-0.11.14] startup +[9.544s] [ext: omni.kit.menu.common-2.0.1] startup +[9.548s] [ext: isaaclab_rl-0.5.0] startup +[9.551s] [ext: isaaclab_mimic-1.0.16] startup +[9.553s] [ext: isaaclab.python-2.3.2] startup +[9.557s] Simulation App Starting +2026-07-23T23:18:26Z [9,618ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:18:26Z [9,623ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:18:26Z [9,623ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:18:26Z [9,623ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:18:26Z [9,654ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.721s] app ready +2026-07-23T23:18:27Z [10,672ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:18:27Z [10,672ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:18:27Z [10,672ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:18:27Z [10,672ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[14.301s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=24 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=24 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-18-49.log +====================================================================================== + +07:18:49 [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 : 24 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:18:50Z [33,668ms] [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 +2026-07-23T23:18:50Z [33,770ms] [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. +2026-07-23T23:18:50Z [33,787ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-23T23:18:50Z [33,799ms] [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. +[INFO]: Time taken for scene creation : 0.451214 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:18:50Z [33,814ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +2026-07-23T23:18:50Z [33,821ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +2026-07-23T23:18:50Z [34,293ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +2026-07-23T23:18:50Z [34,293ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +2026-07-23T23:18:50Z [34,296ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +2026-07-23T23:18:50Z [34,297ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +2026-07-23T23:18:50Z [34,297ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +2026-07-23T23:18:50Z [34,297ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x559a7e06e750:World0.usd@ <0x559a7e06f750>) + +[INFO]: Time taken for simulation start : 0.727158 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:18:59Z [43,032ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:19:02Z [45,857ms] [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 +2026-07-23T23:19:02Z [45,857ms] [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 +2026-07-23T23:19:02Z [45,857ms] [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 +2026-07-23T23:19:02Z [45,857ms] [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 +2026-07-23T23:19:11Z [54,732ms] [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=24 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.06732799857854843, -0.19918200373649597, 0.7724999785423279], 'quat': [0.7920519709587097, 0.0, -0.0, 0.6104540228843689]}, 't1': {'center': [0.05391699820756912, -0.18321900069713593, 0.7724999785423279], 'quat': [0.9851120114326477, 0.0, -0.0, 0.1719139963388443]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.06729999929666519, -0.19920000433921814, 0.7724999785423279] pick_tcp=[-0.06480000168085098, -0.18950000405311584, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0000 tracking_error=0.0250 gripper_position=0.3841 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.06729999929666519, -0.19920000433921814, 0.7724999785423279] target=[-0.18629999458789825, -0.21480000019073486, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1335 tracking_error=0.0196 gripper_position=0.1582 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.20080000162124634, -0.20160000026226044, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.14970000088214874, -0.00019999999494757503, -0.009600000455975533] +[collect][auto_swap_T] right_pick label=t1 center=[0.05389999970793724, -0.18320000171661377, 0.7724999785423279] pick_tcp=[0.0632999986410141, -0.17980000376701355, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0176 tracking_error=0.0077 gripper_position=0.1641 secured=True +[collect][auto_swap_T] right_stage observed=[0.07100000232458115, -0.17919999361038208, 0.7739999890327454] target=[0.1729000061750412, -0.16760000586509705, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1026 tracking_error=0.0004 gripper_position=0.1626 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.17299999296665192, -0.1678999960422516, 0.7738999724388123] lifted=0.0014 ee_to_object_pos=[0.149399995803833, 9.999999747378752e-05, -0.008200000040233135] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=25.49 +[collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect][auto_swap_T] left_rotate step=16 xy=0.0001 z=0.0000 yaw_deg=-0.18 +[collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect][auto_swap_T] left_rotate step=20 xy=0.0001 z=0.0000 yaw_deg=-0.02 +[collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect][auto_swap_T] left_align step=40 xy=0.1721 z=0.0001 yaw_deg=-0.01 +[collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect][auto_swap_T] left_align step=60 xy=0.0863 z=0.0002 yaw_deg=-0.01 +[collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect][auto_swap_T] left_align step=80 xy=0.0016 z=0.0003 yaw_deg=-0.09 +[collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect][auto_swap_T] left_release step=85 xy=0.0005 z=0.0003 yaw_deg=-0.07 +[collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect][auto_swap_T] left_feedback released center=[0.05400000140070915, -0.18299999833106995, 0.7724999785423279] quat=[0.9850000143051147, 0.0, -0.0, 0.1728000044822693] +[collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.17159999907016754, -0.16830000281333923, 0.7738999724388123] lifted=0.0014 ee_to_object_pos=[0.1492999941110611, -0.00019999999494757503, -0.008200000040233135] +[collect][auto_swap_T] right_detour obstacle=[0.05389999970793724, -0.18320000171661377, 0.7724999785423279] waypoint=[0.07590000331401825, -0.35030001401901245, 0.7939000129699707] clearance=0.1686 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.06729999929666519, -0.19920000433921814, 0.7724999785423279] waypoints=69 +[collect][auto_swap_T] phase=right_place waypoints=69 +[collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.00 +[collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0008 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.00 +[collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.12 +[collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect][auto_swap_T] right_feedback released center=[-0.06719999760389328, -0.1987999975681305, 0.7724999785423279] quat=[0.7914000153541565, -0.0, -0.0, 0.611299991607666] +[collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.05404, -0.183015, 0.7725], 'quat': [0.984965, 1e-06, 0.0, 0.172752]}, 't1': {'pos': [-0.067231, -0.198828, 0.7725], 'quat': [0.791412, -1e-06, -2e-06, 0.611283]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed24_diag700.hdf5 +2026-07-23T23:20:55Z [158,969ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:20:55Z [158,969ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[159.401s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed32_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed32_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..8b3a7a4e10235a9c9d8764226008d7081b8102f2 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed32_diag700.log @@ -0,0 +1,884 @@ +[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_072845.log +[0.065s] [ext: omni.kit.async_engine-0.0.3] startup +[0.203s] [ext: omni.metrics.core-0.0.3] startup +[0.204s] [ext: omni.client.lib-1.1.0] startup +[0.219s] [ext: omni.blobkey-1.1.2] startup +[0.219s] [ext: omni.stats-1.0.1] startup +[0.220s] [ext: omni.datastore-0.0.0] startup +[0.227s] [ext: omni.client-1.3.0] startup +[0.233s] [ext: omni.ujitso.default-1.0.0] startup +[0.234s] [ext: omni.hsscclient-1.1.2] startup +[0.257s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.259s] [ext: omni.assets.plugins-0.0.0] startup +[0.261s] [ext: omni.gpu_foundation-0.0.0] startup +[0.268s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:28:45Z [242ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:28:45Z [242ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.269s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:28:45Z [333ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:28:46Z [340ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:28:46Z [340ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:28:46Z [340ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:28:46Z [355ms] [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. +2026-07-23T23:28:47Z [1,881ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:28:47Z [1,881ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:28:47Z [1,887ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:28:47Z [1,887ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:28:47Z [1,896ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:28:47Z [1,897ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:28:47Z [1,897ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:28:47Z [1,897ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:28:47Z [1,897ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:28:47Z [1,897ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:28:47Z [1,897ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:28:47Z [1,897ms] [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: 19124 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[3.024s] [ext: omni.materialx.libs-1.0.7] startup +[3.033s] [ext: omni.kit.loop-isaac-1.3.7] startup +[3.034s] [ext: omni.kit.test-2.0.1] startup +[3.076s] [ext: omni.kit.pipapi-0.0.0] startup +[3.076s] [ext: omni.usd.config-1.0.6] startup +[3.090s] [ext: omni.gpucompute.plugins-0.0.0] startup +[3.091s] [ext: omni.usd.libs-1.0.1] startup +[3.204s] [ext: omni.kit.pip_archive-0.0.0] startup +[3.204s] [ext: omni.mdl-56.0.3] startup +[3.226s] [ext: omni.iray.libs-0.0.0] startup +[3.233s] [ext: omni.mdl.neuraylib-0.2.12] startup +[3.235s] [ext: omni.kit.usd.mdl-1.1.5] startup +[3.342s] [ext: omni.kit.telemetry-0.5.2] startup +[3.385s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:28:49Z [3,360ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:28:49Z [3,360ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.389s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:28:49Z [3,386ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:28:49Z [3,386ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:28:49Z [3,395ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:28:49Z [3,395ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.423s] [ext: omni.kit.renderer.capture-0.0.0] startup +[3.426s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:28:49Z [3,402ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:28:49Z [3,402ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:28:49Z [3,404ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:28:49Z [3,404ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:28:49Z [3,405ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:28:49Z [3,405ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[3.525s] [ext: omni.ui-2.27.1] startup +[3.536s] [ext: omni.kit.mainwindow-1.0.3] startup +[3.537s] [ext: carb.audio-0.1.0] startup +[3.565s] [ext: omni.uiaudio-1.0.0] startup +[3.566s] [ext: omni.kit.uiapp-0.0.0] startup +[3.566s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[3.569s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[3.582s] [ext: omni.usd.schema.semantics-0.0.0] startup +[3.586s] [ext: omni.usd.schema.audio-0.0.0] startup +[3.591s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[3.595s] [ext: omni.usd.schema.anim-0.0.0] startup +[3.624s] [ext: omni.usd_resolver-1.0.0] startup +[3.629s] [ext: omni.usd.core-1.5.3] startup +[3.632s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[3.657s] [ext: isaacsim.robot.schema-3.6.0] startup +[3.667s] [ext: omni.usd.schema.physx-107.3.26] startup +[3.705s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[3.706s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[3.706s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[3.711s] [ext: omni.graph.exec-0.9.6] startup +[3.712s] [ext: omni.kit.actions.core-1.0.0] startup +[3.714s] [ext: omni.kit.usd_undo-0.1.8] startup +[3.714s] [ext: omni.kit.exec.core-0.13.4] startup +[3.716s] [ext: omni.kit.commands-1.4.10] startup +[3.720s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[3.723s] [ext: omni.activity.core-1.0.3] startup +[3.725s] [ext: omni.resourcemonitor-107.0.1] startup +[3.727s] [ext: omni.timeline-1.0.14] startup +[3.729s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[3.731s] [ext: usdrt.scenegraph-7.6.1] startup +[3.773s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[3.774s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[3.784s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[3.790s] [ext: omni.usd-1.13.10] startup +[3.820s] [ext: omni.kit.asset_converter-5.0.17] startup +[3.833s] [ext: omni.index.libs-380600.8087.0] startup +[3.833s] [ext: omni.volume-0.5.2] startup +[3.836s] [ext: omni.ujitso.client-0.0.0] startup +[3.836s] [ext: omni.index-1.0.1] startup +[3.837s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.838s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:28:49Z [3,836ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.882s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.884s] [ext: omni.kit.clipboard-1.0.5] startup +[3.885s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.889s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.895s] [ext: omni.kit.menu.core-1.1.2] startup +[3.896s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.899s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.901s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.902s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.903s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.904s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.908s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.909s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.918s] [ext: omni.ui.scene-1.11.5] startup +[3.922s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.923s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.938s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.946s] [ext: omni.kit.context_menu-1.8.6] startup +[3.947s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.953s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.958s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.960s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.961s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.961s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.965s] [ext: omni.kit.material.library-2.0.7] startup +[3.970s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.974s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.976s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.992s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.998s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[4.003s] [ext: omni.kit.viewport.utility-1.1.2] startup +[4.004s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[4.008s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[4.012s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[4.013s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[4.015s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[4.017s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[4.018s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[4.019s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[4.025s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[4.028s] [ext: omni.kit.widget.filter-1.1.4] startup +[4.029s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[4.031s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[4.032s] [ext: omni.fabric.commands-1.1.6] startup +[4.035s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[4.036s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[4.037s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[4.038s] [ext: omni.debugdraw-0.1.4] startup +[4.042s] [ext: omni.kit.widget.stage-3.1.4] startup +[4.054s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[4.055s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[4.055s] [ext: omni.kvdb-107.3.26] startup +[4.056s] [ext: omni.convexdecomposition-107.3.26] startup +[4.059s] [ext: omni.physx.foundation-107.3.26] startup +[4.061s] [ext: omni.localcache-107.3.26] startup +[4.063s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[4.063s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[4.064s] [ext: omni.kit.stage_template.core-1.1.22] startup +[4.064s] [ext: omni.usdphysics-107.3.26] startup +[4.067s] [ext: omni.kit.window.file-2.0.5] startup +[4.070s] [ext: omni.physx.cooking-107.3.26] startup +[4.073s] [ext: omni.physics-107.3.26] startup +[4.077s] [ext: omni.kit.window.property-1.12.1] startup +[4.079s] [ext: omni.kit.window.content_browser-3.1.3] startup +[4.091s] [ext: omni.physx-107.3.26] startup +[4.102s] [ext: omni.physics.stageupdate-107.3.26] startup +[4.104s] [ext: omni.kit.property.usd-4.5.12] startup +[4.114s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[4.116s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:28:49Z [4,091ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[4.118s] [ext: omni.kit.widget.prompt-1.0.7] startup +[4.119s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[4.138s] [ext: omni.kit.viewport.actions-107.0.2] startup +[4.143s] [ext: omni.inspect-1.0.2] startup +[4.146s] [ext: omni.kit.widget.layers-1.8.6] startup +[4.157s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[4.159s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[4.167s] [ext: omni.graph.core-2.184.5] startup +[4.170s] [ext: omni.kit.numpy.common-0.1.3] startup +[4.172s] [ext: omni.usdphysics.ui-107.3.26] startup +[4.199s] [ext: omni.physx.commands-107.3.26] startup +[4.204s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[4.204s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:28:49Z [4,184ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[4.211s] [ext: omni.physx.ui-107.3.26] startup +[4.244s] [ext: isaacsim.core.version-2.0.6] startup +[4.245s] [ext: omni.physics.tensors-107.3.26] startup +[4.250s] [ext: omni.warp.core-1.8.2] startup +[4.447s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[4.449s] [ext: isaacsim.storage.native-1.5.1] startup +[4.451s] [ext: omni.physx.tensors-107.3.26] startup +[4.471s] [ext: isaacsim.core.utils-3.5.1] startup +[4.474s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[6.012s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[6.015s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[6.018s] [ext: omni.kit.window.stage-2.6.1] startup +[6.025s] [ext: omni.kit.menu.create-2.0.1] startup +[6.027s] [ext: omni.kit.window.extensions-1.4.27] startup +[6.033s] [ext: omni.kit.scripting-107.3.2] startup +[6.039s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[6.043s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[6.043s] [ext: omni.graph.tools-1.79.2] startup +[6.068s] [ext: omni.ui_query-1.1.8] startup +[6.068s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[6.069s] [ext: omni.graph-1.141.2] startup +[6.115s] [ext: omni.graph.action_core-1.1.7] startup +[6.117s] [ext: omni.kit.ui_test-1.3.7] startup +[6.122s] [ext: omni.kit.browser.core-2.3.13] startup +[6.127s] [ext: omni.kit.usd.collect-2.4.5] startup +[6.132s] [ext: omni.graph.action_nodes-1.50.4] startup +[6.136s] [ext: omni.kit.menu.stage-1.2.7] startup +[6.142s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[6.158s] [ext: omni.kit.usdz_export-1.0.9] startup +[6.163s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[6.181s] [ext: omni.graph.action-1.130.0] startup +[6.185s] [ext: omni.kit.tool.collect-2.2.18] startup +[6.193s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[6.203s] [ext: isaacsim.gui.components-1.2.1] startup +[6.210s] [ext: isaacsim.examples.browser-0.2.1] startup +[6.221s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[6.387s] [ext: isaacsim.core.cloner-1.4.10] startup +[6.395s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[6.406s] [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( +[6.524s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:28:52Z [6,508ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[6.537s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[6.539s] [ext: omni.kit.window.status_bar-0.1.9] startup +[6.544s] [ext: omni.kit.widget.graph-2.0.0] startup +[6.552s] [ext: omni.kit.stage_templates-2.0.0] startup +[6.557s] [ext: omni.graph.image.core-0.6.1] startup +[6.559s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[6.561s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[6.563s] [ext: omni.graph.image.nodes-1.3.1] startup +[6.568s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[6.570s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[6.574s] [ext: omni.graph.nodes-1.170.10] startup +[6.585s] [ext: omni.graph.ui_nodes-1.50.5] startup +[6.593s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[6.599s] [ext: omni.syntheticdata-0.6.13] startup +[6.643s] [ext: omni.videoencoding-0.1.2] startup +[6.647s] [ext: omni.warp-1.8.2] startup +[6.657s] [ext: omni.kit.window.material_graph-1.9.1] startup +[6.688s] [ext: omni.graph.scriptnode-1.50.0] startup +[6.694s] [ext: isaacsim.core.prims-0.6.1] startup +[6.792s] [ext: isaacsim.test.docstring-1.1.0] startup +[6.804s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:28:52Z [7,083ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:28:52Z [7,083ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:28:52Z [7,086ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[7.123s] [ext: isaacsim.core.api-4.8.0] startup +[7.188s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[7.313s] [ext: isaacsim.core.nodes-3.4.3] startup +[7.362s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[7.394s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[7.417s] [ext: omni.sensors.nv.common-3.0.0] startup +[7.486s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[7.527s] [ext: isaacsim.sensors.physx-2.3.2] startup +[7.569s] [ext: omni.sensors.nv.materials-2.0.0] startup +[7.603s] [ext: omni.sensors.net-1.0.0] startup +[7.620s] [ext: isaacsim.app.about-2.0.11] startup +[7.650s] [ext: isaacsim.simulation_app-2.12.2] startup +[7.652s] [ext: omni.sensors.nv.ids-2.0.0] startup +[7.665s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[7.688s] [ext: omni.kit.property.audio-1.0.16] startup +[7.699s] [ext: omni.kit.property.camera-1.0.10] startup +[7.714s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.752s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.805s] [ext: omni.kit.property.light-1.0.12] startup +[7.864s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.874s] [ext: omni.kit.selection-0.1.6] startup +[7.895s] [ext: omni.kit.property.material-1.11.9] startup +[8.011s] [ext: omni.kit.property.transform-1.5.13] startup +[8.074s] [ext: omni.kit.property.render-1.2.1] startup +[8.132s] [ext: omni.sensors.nv.radar-3.0.0] startup +[8.153s] [ext: isaacsim.gui.menu-2.4.4] startup +[8.409s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[8.573s] [ext: isaacsim.gui.property-1.1.3] startup +[8.646s] [ext: omni.kit.property.bundle-1.4.1] startup +[8.697s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[8.812s] [ext: isaacsim.sensors.physics-0.4.3] startup +[8.847s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.917s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.945s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.992s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[9.008s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[9.016s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[9.051s] [ext: omni.kit.window.console-1.1.4] startup +[9.068s] [ext: omni.rtx.window.settings-0.6.19] startup +[9.086s] [ext: omni.ocio-0.1.1] startup +[9.091s] [ext: omni.physx.demos-107.3.26] startup +[9.143s] [ext: omni.kit.property.physx-107.3.26] startup +[9.193s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[9.227s] [ext: omni.asset_validator.core-1.1.6] startup +[9.339s] [ext: omni.rtx.settings.core-0.6.5] startup +[9.350s] [ext: omni.physx.vehicle-107.3.26] startup +[9.381s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[9.399s] [ext: omni.kit.window.script_editor-2.0.1] startup +[9.406s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[9.417s] [ext: omni.physx.asset_validator-107.3.26] startup +[9.434s] [ext: omni.kit.window.toolbar-2.0.0] startup +[9.442s] [ext: omni.physx.camera-107.3.26] startup +[9.467s] [ext: omni.anim.curve.core-1.3.1] startup +[9.491s] [ext: omni.physx.cct-107.3.26] startup +[9.513s] [ext: omni.physx.graph-107.3.26] startup +[9.537s] [ext: omni.physx.supportui-107.3.26] startup +[9.581s] [ext: omni.physx.telemetry-107.3.26] startup +[9.595s] [ext: isaaclab-0.54.3] startup +[9.997s] [ext: isaaclab_contrib-0.0.2] startup +[9.999s] [ext: isaacsim.core.throttling-2.2.2] startup +[10.002s] [ext: omni.kit.ui.actions-1.0.5] startup +[10.009s] [ext: semantics.schema.property-2.0.1] startup +[10.013s] [ext: omni.physx.bundle-107.3.26] startup +[10.017s] [ext: isaacsim.sensors.camera-1.3.6] startup +[10.022s] [ext: isaaclab_assets-0.2.4] startup +[10.337s] [ext: isaaclab_tasks-0.11.14] startup +[10.514s] [ext: omni.kit.menu.common-2.0.1] startup +[10.517s] [ext: isaaclab_rl-0.5.0] startup +[10.521s] [ext: isaaclab_mimic-1.0.16] startup +[10.523s] [ext: isaaclab.python-2.3.2] startup +[10.527s] Simulation App Starting +2026-07-23T23:28:56Z [10,602ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:28:56Z [10,607ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:28:56Z [10,607ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:28:56Z [10,607ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:28:56Z [10,640ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[10.696s] app ready +2026-07-23T23:28:57Z [11,730ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:28:57Z [11,730ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:28:57Z [11,730ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:28:57Z [11,730ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +2026-07-23T23:28:58Z [12,454ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-23T23:28:58Z [12,455ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +2026-07-23T23:28:58Z [12,455ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +[15.141s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=32 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=32 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-29-20.log +====================================================================================== + +07:29:20 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 32 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:29:21Z [35,364ms] [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 +2026-07-23T23:29:21Z [35,458ms] [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. +2026-07-23T23:29:21Z [35,477ms] [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. +2026-07-23T23:29:21Z [35,491ms] [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 : 0.426561 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:29:21Z [35,513ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +2026-07-23T23:29:21Z [35,520ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +2026-07-23T23:29:21Z [36,005ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +2026-07-23T23:29:21Z [36,005ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +2026-07-23T23:29:21Z [36,008ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +2026-07-23T23:29:21Z [36,008ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +2026-07-23T23:29:21Z [36,008ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +2026-07-23T23:29:21Z [36,009ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x55610788dfa0:World0.usd@ <0x55610788efa0>) + +[INFO]: Time taken for simulation start : 0.742675 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:29:32Z [46,763ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:29:35Z [49,654ms] [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 +2026-07-23T23:29:35Z [49,655ms] [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 +2026-07-23T23:29:35Z [49,655ms] [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 +2026-07-23T23:29:35Z [49,655ms] [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 +2026-07-23T23:29:44Z [58,968ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[collect][auto_swap_T] reset demo=0 seed=32 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07171899825334549, -0.1582539975643158, 0.7724999785423279], 'quat': [-0.3343620002269745, 0.0, 0.0, 0.9424449801445007]}, 't1': {'center': [0.09040100127458572, -0.19074299931526184, 0.7724999785423279], 'quat': [-0.6967689990997314, 9.999999974752427e-07, -9.999999974752427e-07, 0.7172960042953491]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07169999927282333, -0.1582999974489212, 0.7724999785423279] pick_tcp=[-0.0794999971985817, -0.16459999978542328, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0033 tracking_error=0.0271 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.07029999792575836, -0.16120000183582306, 0.7724999785423279] target=[-0.18940000236034393, -0.1347000002861023, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=left_stage waypoints=15 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1268 tracking_error=0.0118 gripper_position=0.1594 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19120000302791595, -0.12300000339746475, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.15160000324249268, -9.999999747378752e-05, 0.019600000232458115] +[collect][auto_swap_T] right_pick label=t1 center=[0.09040000289678574, -0.1906999945640564, 0.7724999785423279] pick_tcp=[0.09009999781847, -0.20069999992847443, 0.7724999785423279] waypoints=38 +[collect][auto_swap_T] phase=right_pick waypoints=38 +[collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0112 tracking_error=0.0163 gripper_position=0.1747 secured=True +[collect][auto_swap_T] right_stage observed=[0.10100000351667404, -0.18709999322891235, 0.7728000283241272] target=[0.20810000598430634, -0.2143000066280365, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1108 tracking_error=0.0006 gripper_position=0.1613 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.2084999978542328, -0.21400000154972076, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.15060000121593475, -0.0, 0.0027000000700354576] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=79.69 +[collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect][auto_swap_T] left_rotate step=20 xy=0.0010 z=0.0001 yaw_deg=46.39 +[collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect][auto_swap_T] left_rotate step=40 xy=0.0012 z=0.0001 yaw_deg=11.43 +[collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect][auto_swap_T] left_rotate step=47 xy=0.0010 z=0.0001 yaw_deg=0.11 +[collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect][auto_swap_T] left_align step=60 xy=0.2492 z=0.0002 yaw_deg=0.02 +[collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect][auto_swap_T] left_align step=80 xy=0.1613 z=0.0001 yaw_deg=-0.00 +[collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect][auto_swap_T] left_align step=100 xy=0.0759 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect][auto_swap_T] left_align step=120 xy=0.0084 z=0.0005 yaw_deg=-0.57 +[collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect][auto_swap_T] left_align step=124 xy=0.0034 z=0.0008 yaw_deg=-0.44 +[collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect][auto_swap_T] left_release step=129 xy=0.0015 z=0.0005 yaw_deg=-0.18 +[collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect][auto_swap_T] left_release step=140 xy=0.0006 z=0.0040 yaw_deg=-0.63 +[collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect][auto_swap_T] left_feedback released center=[0.08980000019073486, -0.19059999287128448, 0.7724999785423279] quat=[-0.7006999850273132, 0.0, -0.0, 0.7135000228881836] +[collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.22669999301433563, -0.21130000054836273, 0.7732999920845032] lifted=0.0008 ee_to_object_pos=[0.15109999477863312, -0.00019999999494757503, 0.0027000000700354576] +[collect][auto_swap_T] right_detour obstacle=[0.09040000289678574, -0.1906999945640564, 0.7724999785423279] waypoint=[0.12780000269412994, -0.004100000020116568, 0.7932999730110168] clearance=0.1903 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07169999927282333, -0.1582999974489212, 0.7724999785423279] waypoints=78 +[collect][auto_swap_T] phase=right_place waypoints=78 +[collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect] demo=0 step=350/700 +env0 step: 350 / 700 [collect] demo=0 step=351/700 +env0 step: 351 / 700 [collect] demo=0 step=352/700 +env0 step: 352 / 700 [collect] demo=0 step=353/700 +env0 step: 353 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.06 +[collect] demo=0 step=354/700 +env0 step: 354 / 700 [collect] demo=0 step=355/700 +env0 step: 355 / 700 [collect] demo=0 step=356/700 +env0 step: 356 / 700 [collect] demo=0 step=357/700 +env0 step: 357 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=358/700 +env0 step: 358 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0014 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=359/700 +env0 step: 359 / 700 [collect] demo=0 step=360/700 +env0 step: 360 / 700 [collect] demo=0 step=361/700 +env0 step: 361 / 700 [collect] demo=0 step=362/700 +env0 step: 362 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=363/700 +env0 step: 363 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.02 +[collect] demo=0 step=364/700 +env0 step: 364 / 700 [collect] demo=0 step=365/700 +env0 step: 365 / 700 [collect] demo=0 step=366/700 +env0 step: 366 / 700 [collect] demo=0 step=367/700 +env0 step: 367 / 700 [collect] demo=0 step=368/700 +env0 step: 368 / 700 [collect] demo=0 step=369/700 +env0 step: 369 / 700 [collect] demo=0 step=370/700 +env0 step: 370 / 700 [collect] demo=0 step=371/700 +env0 step: 371 / 700 [collect] demo=0 step=372/700 +env0 step: 372 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0005 z=0.0040 yaw_deg=0.02 +[collect] demo=0 step=373/700 +env0 step: 373 / 700 [collect] demo=0 step=374/700 +env0 step: 374 / 700 [collect] demo=0 step=375/700 +env0 step: 375 / 700 [collect] demo=0 step=376/700 +env0 step: 376 / 700 [collect] demo=0 step=377/700 +env0 step: 377 / 700 [collect][auto_swap_T] right_feedback released center=[-0.07199999690055847, -0.15860000252723694, 0.7724999785423279] quat=[-0.334199994802475, 0.0, 0.0, 0.9424999952316284] +[collect] demo=0 step=378/700 +env0 step: 378 / 700 [collect] demo=0 step=379/700 +env0 step: 379 / 700 [collect] demo=0 step=380/700 +env0 step: 380 / 700 [collect] demo=0 step=381/700 +env0 step: 381 / 700 [collect] demo=0 step=382/700 +env0 step: 382 / 700 [collect] demo=0 step=383/700 +env0 step: 383 / 700 [collect] demo=0 step=384/700 +env0 step: 384 / 700 [collect] demo=0 step=385/700 +env0 step: 385 / 700 [collect] demo=0 step=386/700 +env0 step: 386 / 700 [collect] demo=0 step=387/700 +env0 step: 387 / 700 [collect] demo=0 step=388/700 +env0 step: 388 / 700 [collect] demo=0 step=389/700 +env0 step: 389 / 700 [collect] demo=0 step=390/700 +env0 step: 390 / 700 [collect] demo=0 step=391/700 +env0 step: 391 / 700 [collect] demo=0 step=392/700 +env0 step: 392 / 700 [collect] demo=0 step=393/700 +env0 step: 393 / 700 [collect] demo=0 step=394/700 +env0 step: 394 / 700 [collect] demo=0 step=395/700 +env0 step: 395 / 700 [collect] demo=0 step=396/700 +env0 step: 396 / 700 [collect] demo=0 step=397/700 +env0 step: 397 / 700 [collect] demo=0 step=398/700 +env0 step: 398 / 700 [collect] demo=0 step=399/700 +env0 step: 399 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.089801, -0.190565, 0.7725], 'quat': [-0.70068, 1e-06, -1e-06, 0.713476]}, 't1': {'pos': [-0.072042, -0.158589, 0.7725], 'quat': [-0.334234, 0.0, 0.0, 0.94249]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed32_diag700.hdf5 +2026-07-23T23:31:57Z [191,737ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:31:57Z [191,737ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[192.155s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed35_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed35_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..297435eebf9002575afc180d854ce2237c3896ca --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed35_diag700.log @@ -0,0 +1,830 @@ +[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_073159.log +[0.071s] [ext: omni.kit.async_engine-0.0.3] startup +[0.213s] [ext: omni.metrics.core-0.0.3] startup +[0.213s] [ext: omni.client.lib-1.1.0] startup +[0.228s] [ext: omni.blobkey-1.1.2] startup +[0.229s] [ext: omni.stats-1.0.1] startup +[0.230s] [ext: omni.datastore-0.0.0] startup +[0.236s] [ext: omni.client-1.3.0] startup +[0.242s] [ext: omni.ujitso.default-1.0.0] startup +[0.244s] [ext: omni.hsscclient-1.1.2] startup +[0.267s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.269s] [ext: omni.assets.plugins-0.0.0] startup +[0.271s] [ext: omni.gpu_foundation-0.0.0] startup +[0.278s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:32:00Z [252ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:32:00Z [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) +[0.279s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:32:00Z [376ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:32:00Z [377ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:32:00Z [377ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:32:00Z [377ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:32:00Z [458ms] [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. +2026-07-23T23:32:01Z [1,192ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:32:01Z [1,192ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:32:01Z [1,194ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:32:01Z [1,194ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:32:01Z [1,195ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:32:01Z [1,195ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:32:01Z [1,196ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:32:01Z [1,196ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:32:01Z [1,196ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:32:01Z [1,196ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:32:01Z [1,196ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:32:01Z [1,196ms] [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: 12501 +| 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 +[2.059s] [ext: omni.kit.pipapi-0.0.0] startup +[2.060s] [ext: omni.usd.config-1.0.6] startup +[2.063s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.064s] [ext: omni.usd.libs-1.0.1] startup +[2.180s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.181s] [ext: omni.mdl-56.0.3] startup +[2.206s] [ext: omni.iray.libs-0.0.0] startup +[2.213s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.215s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.328s] [ext: omni.kit.telemetry-0.5.2] startup +[2.370s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:32:02Z [2,345ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:32:02Z [2,345ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.374s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:32:02Z [2,369ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:32:02Z [2,369ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:32:02Z [2,380ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:32:02Z [2,380ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.408s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.411s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:32:02Z [2,388ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:32:02Z [2,388ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:32:02Z [2,389ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:32:02Z [2,389ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:32:02Z [2,390ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:32:02Z [2,390ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.517s] [ext: omni.ui-2.27.1] startup +[2.530s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.531s] [ext: carb.audio-0.1.0] startup +[2.560s] [ext: omni.uiaudio-1.0.0] startup +[2.562s] [ext: omni.kit.uiapp-0.0.0] startup +[2.562s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.566s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.573s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.576s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.579s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.583s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.609s] [ext: omni.usd_resolver-1.0.0] startup +[2.613s] [ext: omni.usd.core-1.5.3] startup +[2.617s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.642s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.651s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.689s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.690s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.691s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.696s] [ext: omni.graph.exec-0.9.6] startup +[2.697s] [ext: omni.kit.actions.core-1.0.0] startup +[2.699s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.699s] [ext: omni.kit.exec.core-0.13.4] startup +[2.701s] [ext: omni.kit.commands-1.4.10] startup +[2.705s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.709s] [ext: omni.activity.core-1.0.3] startup +[2.710s] [ext: omni.resourcemonitor-107.0.1] startup +[2.712s] [ext: omni.timeline-1.0.14] startup +[2.714s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.716s] [ext: usdrt.scenegraph-7.6.1] startup +[2.759s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.760s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.770s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.776s] [ext: omni.usd-1.13.10] startup +[2.804s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.818s] [ext: omni.index.libs-380600.8087.0] startup +[2.818s] [ext: omni.volume-0.5.2] startup +[2.821s] [ext: omni.ujitso.client-0.0.0] startup +[2.822s] [ext: omni.index-1.0.1] startup +[2.822s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.823s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:32:02Z [2,821ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.867s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.868s] [ext: omni.kit.clipboard-1.0.5] startup +[2.869s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.872s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.879s] [ext: omni.kit.menu.core-1.1.2] startup +[2.880s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.884s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.886s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.887s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.888s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.888s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.894s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.895s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.905s] [ext: omni.ui.scene-1.11.5] startup +[2.910s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.910s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.925s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.934s] [ext: omni.kit.context_menu-1.8.6] startup +[2.937s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.943s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.947s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.949s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.950s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.951s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.955s] [ext: omni.kit.material.library-2.0.7] startup +[2.960s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.963s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.966s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.984s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.989s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.994s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.995s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.999s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.003s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.004s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.006s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.008s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.009s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.010s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.019s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.022s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.023s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.025s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.026s] [ext: omni.fabric.commands-1.1.6] startup +[3.028s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.029s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.031s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.032s] [ext: omni.debugdraw-0.1.4] startup +[3.036s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.048s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.049s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.049s] [ext: omni.kvdb-107.3.26] startup +[3.050s] [ext: omni.convexdecomposition-107.3.26] startup +[3.054s] [ext: omni.physx.foundation-107.3.26] startup +[3.057s] [ext: omni.localcache-107.3.26] startup +[3.059s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.060s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.061s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.061s] [ext: omni.usdphysics-107.3.26] startup +[3.064s] [ext: omni.kit.window.file-2.0.5] startup +[3.066s] [ext: omni.physx.cooking-107.3.26] startup +[3.070s] [ext: omni.physics-107.3.26] startup +[3.074s] [ext: omni.kit.window.property-1.12.1] startup +[3.076s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.088s] [ext: omni.physx-107.3.26] startup +[3.102s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.104s] [ext: omni.kit.property.usd-4.5.12] startup +[3.114s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.116s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:32:03Z [3,091ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.118s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.119s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.133s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.140s] [ext: omni.inspect-1.0.2] startup +[3.142s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.154s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.156s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.164s] [ext: omni.graph.core-2.184.5] startup +[3.168s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.170s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.200s] [ext: omni.physx.commands-107.3.26] startup +[3.204s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.205s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:32:03Z [3,185ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.212s] [ext: omni.physx.ui-107.3.26] startup +[3.246s] [ext: isaacsim.core.version-2.0.6] startup +[3.247s] [ext: omni.physics.tensors-107.3.26] startup +[3.252s] [ext: omni.warp.core-1.8.2] startup +[3.452s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.455s] [ext: isaacsim.storage.native-1.5.1] startup +[3.456s] [ext: omni.physx.tensors-107.3.26] startup +[3.463s] [ext: isaacsim.core.utils-3.5.1] startup +[3.466s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.940s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.941s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.943s] [ext: omni.kit.window.stage-2.6.1] startup +[4.947s] [ext: omni.kit.menu.create-2.0.1] startup +[4.949s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.954s] [ext: omni.kit.scripting-107.3.2] startup +[4.959s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.963s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.963s] [ext: omni.graph.tools-1.79.2] startup +[4.985s] [ext: omni.ui_query-1.1.8] startup +[4.986s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.986s] [ext: omni.graph-1.141.2] startup +[5.042s] [ext: omni.graph.action_core-1.1.7] startup +[5.046s] [ext: omni.kit.ui_test-1.3.7] startup +[5.050s] [ext: omni.kit.browser.core-2.3.13] startup +[5.055s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.060s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.069s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.074s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.087s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.093s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.114s] [ext: omni.graph.action-1.130.0] startup +[5.118s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.124s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.132s] [ext: isaacsim.gui.components-1.2.1] startup +[5.140s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.161s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.404s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.413s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.423s] [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( +[5.556s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:32:05Z [5,534ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.566s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.566s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.571s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.578s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.582s] [ext: omni.graph.image.core-0.6.1] startup +[5.585s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.586s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.589s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.592s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.596s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.599s] [ext: omni.graph.nodes-1.170.10] startup +[5.611s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.616s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.624s] [ext: omni.syntheticdata-0.6.13] startup +[5.660s] [ext: omni.videoencoding-0.1.2] startup +[5.667s] [ext: omni.warp-1.8.2] startup +[5.676s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.698s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.704s] [ext: isaacsim.core.prims-0.6.1] startup +[5.758s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.764s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:32:05Z [5,951ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:32:05Z [5,951ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:32:05Z [5,953ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.984s] [ext: isaacsim.core.api-4.8.0] startup +[6.054s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.145s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.193s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.210s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.225s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.265s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.314s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.369s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.397s] [ext: omni.sensors.net-1.0.0] startup +[6.435s] [ext: isaacsim.app.about-2.0.11] startup +[6.491s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.493s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.503s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.578s] [ext: omni.kit.property.audio-1.0.16] startup +[6.594s] [ext: omni.kit.property.camera-1.0.10] startup +[6.622s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.655s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.716s] [ext: omni.kit.property.light-1.0.12] startup +[6.766s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.775s] [ext: omni.kit.selection-0.1.6] startup +[6.846s] [ext: omni.kit.property.material-1.11.9] startup +[7.335s] [ext: omni.kit.property.transform-1.5.13] startup +[7.368s] [ext: omni.kit.property.render-1.2.1] startup +[7.377s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.392s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.446s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.475s] [ext: isaacsim.gui.property-1.1.3] startup +[7.495s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.504s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.532s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.561s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.606s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.628s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.652s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.662s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.666s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.693s] [ext: omni.kit.window.console-1.1.4] startup +[7.709s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.725s] [ext: omni.ocio-0.1.1] startup +[7.733s] [ext: omni.physx.demos-107.3.26] startup +[7.783s] [ext: omni.kit.property.physx-107.3.26] startup +[7.833s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.863s] [ext: omni.asset_validator.core-1.1.6] startup +[7.966s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.976s] [ext: omni.physx.vehicle-107.3.26] startup +[8.005s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.024s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.030s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.038s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.051s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.059s] [ext: omni.physx.camera-107.3.26] startup +[8.072s] [ext: omni.anim.curve.core-1.3.1] startup +[8.095s] [ext: omni.physx.cct-107.3.26] startup +[8.117s] [ext: omni.physx.graph-107.3.26] startup +[8.136s] [ext: omni.physx.supportui-107.3.26] startup +[8.177s] [ext: omni.physx.telemetry-107.3.26] startup +[8.181s] [ext: isaaclab-0.54.3] startup +[8.526s] [ext: isaaclab_contrib-0.0.2] startup +[8.529s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.532s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.537s] [ext: semantics.schema.property-2.0.1] startup +[8.541s] [ext: omni.physx.bundle-107.3.26] startup +[8.541s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.550s] [ext: isaaclab_assets-0.2.4] startup +[8.872s] [ext: isaaclab_tasks-0.11.14] startup +[9.046s] [ext: omni.kit.menu.common-2.0.1] startup +[9.049s] [ext: isaaclab_rl-0.5.0] startup +[9.050s] [ext: isaaclab_mimic-1.0.16] startup +[9.055s] [ext: isaaclab.python-2.3.2] startup +[9.058s] Simulation App Starting +2026-07-23T23:32:09Z [9,127ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:32:09Z [9,132ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:32:09Z [9,132ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:32:09Z [9,132ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:32:09Z [9,162ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.221s] app ready +2026-07-23T23:32:10Z [10,129ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:32:10Z [10,129ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:32:10Z [10,129ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:32:10Z [10,130ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.806s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=35 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=35 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-32-32.log +====================================================================================== + +07:32:32 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 35 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:32:32Z [33,072ms] [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 +2026-07-23T23:32:33Z [33,177ms] [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. +2026-07-23T23:32:33Z [33,194ms] [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. +2026-07-23T23:32:33Z [33,207ms] [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 : 0.472445 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:32:33Z [33,224ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +2026-07-23T23:32:33Z [33,231ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +2026-07-23T23:32:33Z [33,733ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +2026-07-23T23:32:33Z [33,734ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +2026-07-23T23:32:33Z [33,736ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +2026-07-23T23:32:33Z [33,736ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +2026-07-23T23:32:33Z [33,736ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +2026-07-23T23:32:33Z [33,737ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56242c285d50:World0.usd@ <0x56242c286d50>) + +[INFO]: Time taken for simulation start : 0.753619 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:32:43Z [43,328ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:32:46Z [46,196ms] [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 +2026-07-23T23:32:46Z [46,196ms] [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 +2026-07-23T23:32:46Z [46,197ms] [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 +2026-07-23T23:32:46Z [46,197ms] [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 +2026-07-23T23:32:54Z [54,891ms] [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=35 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.06392200291156769, -0.19160400331020355, 0.7724999785423279], 'quat': [-0.48965099453926086, -9.999999974752427e-07, 0.0, 0.8719189763069153]}, 't1': {'center': [0.050367001444101334, -0.160288006067276, 0.7724999785423279], 'quat': [0.16303899884223938, 0.0, -9.999999974752427e-07, 0.9866200089454651]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.06390000134706497, -0.1915999948978424, 0.7724999785423279] pick_tcp=[-0.06909999996423721, -0.20010000467300415, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0108 tracking_error=0.0329 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.05510000139474869, -0.19789999723434448, 0.7724999785423279] target=[-0.17970000207424164, -0.2232999950647354, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=left_stage waypoints=15 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1309 tracking_error=0.0133 gripper_position=0.1595 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.18529999256134033, -0.21130000054836273, 0.7730000019073486] lifted=0.0005 ee_to_object_pos=[0.1518000066280365, -9.999999747378752e-05, 0.017500000074505806] +[collect][auto_swap_T] right_pick label=t1 center=[0.05040000006556511, -0.16030000150203705, 0.7724999785423279] pick_tcp=[0.04089999943971634, -0.15710000693798065, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0048 tracking_error=0.0206 gripper_position=0.7056 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.05420000106096268, -0.1574999988079071, 0.7724999785423279] target=[0.16609999537467957, -0.12860000133514404, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1062 tracking_error=0.0095 gripper_position=0.3574 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.1565999984741211, -0.12929999828338623, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.15230000019073486, 0.010499999858438969, 0.00989999994635582] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=47.02 +[collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect][auto_swap_T] left_rotate step=20 xy=0.0010 z=0.0000 yaw_deg=-14.27 +[collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect][auto_swap_T] left_rotate step=28 xy=0.0010 z=0.0000 yaw_deg=-0.43 +[collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect][auto_swap_T] left_align step=40 xy=0.2060 z=0.0004 yaw_deg=-0.03 +[collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect][auto_swap_T] left_align step=60 xy=0.1190 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect][auto_swap_T] left_align step=80 xy=0.0339 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect][auto_swap_T] left_align step=88 xy=0.0032 z=0.0003 yaw_deg=-0.23 +[collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect][auto_swap_T] left_release step=93 xy=0.0011 z=0.0003 yaw_deg=-0.14 +[collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect][auto_swap_T] left_release step=100 xy=0.0009 z=0.0040 yaw_deg=-0.54 +[collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect][auto_swap_T] left_feedback released center=[0.0494999997317791, -0.1599999964237213, 0.7724999785423279] quat=[0.15839999914169312, 0.0, -0.0, 0.9873999953269958] +[collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.15960000455379486, -0.11869999766349792, 0.7728000283241272] lifted=0.0003 ee_to_object_pos=[0.15360000729560852, -9.999999747378752e-05, 0.009800000116229057] +[collect][auto_swap_T] right_detour obstacle=[0.05040000006556511, -0.16030000150203705, 0.7724999785423279] waypoint=[0.009600000455975533, -0.01140000019222498, 0.7928000092506409] clearance=0.1543 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.06390000134706497, -0.1915999948978424, 0.7724999785423279] waypoints=62 +[collect][auto_swap_T] phase=right_place waypoints=62 +[collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.03 +[collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0005 z=0.0038 yaw_deg=-0.01 +[collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0003 yaw_deg=-0.02 +[collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0001 z=0.0040 yaw_deg=-0.13 +[collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect][auto_swap_T] right_feedback released center=[-0.06390000134706497, -0.19169999659061432, 0.7724999785423279] quat=[-0.49059998989105225, -0.0, 0.0, 0.871399998664856] +[collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.049507, -0.159979, 0.7725], 'quat': [0.158366, 0.0, 1e-06, 0.98738]}, 't1': {'pos': [-0.063916, -0.191733, 0.7725], 'quat': [-0.490636, -1e-06, 0.0, 0.871365]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed35_diag700.hdf5 +2026-07-23T23:34:50Z [171,069ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:50Z [171,069ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[171.465s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed36_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed36_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..7baf43b31f2988fdf869d9669c6a109e4a9b3c50 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed36_diag700.log @@ -0,0 +1,851 @@ +[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_073300.log +[0.072s] [ext: omni.kit.async_engine-0.0.3] startup +[0.225s] [ext: omni.metrics.core-0.0.3] startup +[0.226s] [ext: omni.client.lib-1.1.0] startup +[0.242s] [ext: omni.blobkey-1.1.2] startup +[0.242s] [ext: omni.stats-1.0.1] startup +[0.243s] [ext: omni.datastore-0.0.0] startup +[0.250s] [ext: omni.client-1.3.0] startup +[0.256s] [ext: omni.ujitso.default-1.0.0] startup +[0.258s] [ext: omni.hsscclient-1.1.2] startup +[0.281s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.283s] [ext: omni.assets.plugins-0.0.0] startup +[0.284s] [ext: omni.gpu_foundation-0.0.0] startup +[0.292s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:33:00Z [262ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:33:00Z [262ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.293s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:33:00Z [336ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:33:00Z [342ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:33:00Z [342ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:33:00Z [342ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:33:00Z [356ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 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. +2026-07-23T23:33:01Z [1,017ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:33:01Z [1,018ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:33:01Z [1,018ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:33:01Z [1,018ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:33:01Z [1,019ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:33:01Z [1,019ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:33:01Z [1,020ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:33:01Z [1,020ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:33:01Z [1,020ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:33:01Z [1,020ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:33:01Z [1,021ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:33:01Z [1,021ms] [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: 13047 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.819s] [ext: omni.materialx.libs-1.0.7] startup +[1.831s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.832s] [ext: omni.kit.test-2.0.1] startup +[1.876s] [ext: omni.kit.pipapi-0.0.0] startup +[1.876s] [ext: omni.usd.config-1.0.6] startup +[1.880s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.880s] [ext: omni.usd.libs-1.0.1] startup +[1.995s] [ext: omni.kit.pip_archive-0.0.0] startup +[1.995s] [ext: omni.mdl-56.0.3] startup +[2.018s] [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 +[2.135s] [ext: omni.kit.telemetry-0.5.2] startup +[2.193s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:33:02Z [2,164ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:33:02Z [2,164ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.199s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:33:02Z [2,187ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:33:02Z [2,187ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:33:02Z [2,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:33:02Z [2,200ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.233s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.236s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:33:02Z [2,209ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:33:02Z [2,209ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:33:02Z [2,210ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:33:02Z [2,210ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:33:02Z [2,211ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:33:02Z [2,211ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.353s] [ext: omni.ui-2.27.1] startup +[2.367s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.369s] [ext: carb.audio-0.1.0] startup +[2.397s] [ext: omni.uiaudio-1.0.0] startup +[2.398s] [ext: omni.kit.uiapp-0.0.0] startup +[2.398s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.401s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.409s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.413s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.417s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.420s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.444s] [ext: omni.usd_resolver-1.0.0] startup +[2.449s] [ext: omni.usd.core-1.5.3] startup +[2.452s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.478s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.487s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.522s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.523s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.524s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.529s] [ext: omni.graph.exec-0.9.6] startup +[2.530s] [ext: omni.kit.actions.core-1.0.0] startup +[2.532s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.533s] [ext: omni.kit.exec.core-0.13.4] startup +[2.534s] [ext: omni.kit.commands-1.4.10] startup +[2.538s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.542s] [ext: omni.activity.core-1.0.3] startup +[2.543s] [ext: omni.resourcemonitor-107.0.1] startup +[2.545s] [ext: omni.timeline-1.0.14] startup +[2.547s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.550s] [ext: usdrt.scenegraph-7.6.1] startup +[2.591s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.592s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.601s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.607s] [ext: omni.usd-1.13.10] startup +[2.635s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.649s] [ext: omni.index.libs-380600.8087.0] startup +[2.649s] [ext: omni.volume-0.5.2] startup +[2.652s] [ext: omni.ujitso.client-0.0.0] startup +[2.653s] [ext: omni.index-1.0.1] startup +[2.653s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.655s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:33:02Z [2,653ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.704s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.709s] [ext: omni.kit.clipboard-1.0.5] startup +[2.710s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.713s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.720s] [ext: omni.kit.menu.core-1.1.2] startup +[2.721s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.724s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.726s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.727s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.728s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.729s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.733s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.734s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.743s] [ext: omni.ui.scene-1.11.5] startup +[2.749s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.749s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.768s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.776s] [ext: omni.kit.context_menu-1.8.6] startup +[2.778s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.784s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.789s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.791s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.792s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.793s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.797s] [ext: omni.kit.material.library-2.0.7] startup +[2.802s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.805s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.807s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.824s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.829s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.834s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.835s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.839s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.843s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.844s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.846s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.847s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.848s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.849s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.856s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.859s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.859s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.861s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.862s] [ext: omni.fabric.commands-1.1.6] startup +[2.865s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.867s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.869s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.870s] [ext: omni.debugdraw-0.1.4] startup +[2.876s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.890s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.891s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.891s] [ext: omni.kvdb-107.3.26] startup +[2.893s] [ext: omni.convexdecomposition-107.3.26] startup +[2.896s] [ext: omni.physx.foundation-107.3.26] startup +[2.898s] [ext: omni.localcache-107.3.26] startup +[2.899s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.900s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.901s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.901s] [ext: omni.usdphysics-107.3.26] startup +[2.904s] [ext: omni.kit.window.file-2.0.5] startup +[2.907s] [ext: omni.physx.cooking-107.3.26] startup +[2.911s] [ext: omni.physics-107.3.26] startup +[2.914s] [ext: omni.kit.window.property-1.12.1] startup +[2.917s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.934s] [ext: omni.physx-107.3.26] startup +[2.946s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.949s] [ext: omni.kit.property.usd-4.5.12] startup +[2.960s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[2.962s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:33:03Z [2,933ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[2.965s] [ext: omni.kit.widget.prompt-1.0.7] startup +[2.966s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[2.981s] [ext: omni.kit.viewport.actions-107.0.2] startup +[2.985s] [ext: omni.inspect-1.0.2] startup +[2.987s] [ext: omni.kit.widget.layers-1.8.6] startup +[2.998s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.000s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.010s] [ext: omni.graph.core-2.184.5] startup +[3.013s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.015s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.045s] [ext: omni.physx.commands-107.3.26] startup +[3.049s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.050s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:33:03Z [3,026ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.057s] [ext: omni.physx.ui-107.3.26] startup +[3.093s] [ext: isaacsim.core.version-2.0.6] startup +[3.094s] [ext: omni.physics.tensors-107.3.26] startup +[3.100s] [ext: omni.warp.core-1.8.2] startup +[3.313s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.315s] [ext: isaacsim.storage.native-1.5.1] startup +[3.317s] [ext: omni.physx.tensors-107.3.26] startup +[3.323s] [ext: isaacsim.core.utils-3.5.1] startup +[3.327s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.847s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.850s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.852s] [ext: omni.kit.window.stage-2.6.1] startup +[4.857s] [ext: omni.kit.menu.create-2.0.1] startup +[4.859s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.865s] [ext: omni.kit.scripting-107.3.2] startup +[4.869s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.873s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.874s] [ext: omni.graph.tools-1.79.2] startup +[4.896s] [ext: omni.ui_query-1.1.8] startup +[4.897s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.897s] [ext: omni.graph-1.141.2] startup +[4.940s] [ext: omni.graph.action_core-1.1.7] startup +[4.942s] [ext: omni.kit.ui_test-1.3.7] startup +[4.948s] [ext: omni.kit.browser.core-2.3.13] startup +[4.954s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.956s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.961s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.966s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.980s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.987s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.003s] [ext: omni.graph.action-1.130.0] startup +[5.007s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.017s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.039s] [ext: isaacsim.gui.components-1.2.1] startup +[5.058s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.075s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.215s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.223s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.233s] [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( +[5.372s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:33:05Z [5,351ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.387s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.387s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.392s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.399s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.404s] [ext: omni.graph.image.core-0.6.1] startup +[5.407s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.408s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.410s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.414s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.417s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.420s] [ext: omni.graph.nodes-1.170.10] startup +[5.431s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.437s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.443s] [ext: omni.syntheticdata-0.6.13] startup +[5.481s] [ext: omni.videoencoding-0.1.2] startup +[5.487s] [ext: omni.warp-1.8.2] startup +[5.500s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.520s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.527s] [ext: isaacsim.core.prims-0.6.1] startup +[5.591s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.608s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:33:06Z [5,814ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:33:06Z [5,814ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:33:06Z [5,822ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.865s] [ext: isaacsim.core.api-4.8.0] startup +[5.947s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.025s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.044s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.056s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.066s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.084s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.097s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.111s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.127s] [ext: omni.sensors.net-1.0.0] startup +[6.140s] [ext: isaacsim.app.about-2.0.11] startup +[6.154s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.159s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.175s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.188s] [ext: omni.kit.property.audio-1.0.16] startup +[6.204s] [ext: omni.kit.property.camera-1.0.10] startup +[6.217s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.238s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.302s] [ext: omni.kit.property.light-1.0.12] startup +[6.368s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.374s] [ext: omni.kit.selection-0.1.6] startup +[6.383s] [ext: omni.kit.property.material-1.11.9] startup +[6.415s] [ext: omni.kit.property.transform-1.5.13] startup +[6.454s] [ext: omni.kit.property.render-1.2.1] startup +[6.469s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.478s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.505s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.528s] [ext: isaacsim.gui.property-1.1.3] startup +[6.547s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.555s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.599s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.682s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.793s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.934s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.293s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.307s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.319s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.354s] [ext: omni.kit.window.console-1.1.4] startup +[7.396s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.422s] [ext: omni.ocio-0.1.1] startup +[7.434s] [ext: omni.physx.demos-107.3.26] startup +[7.529s] [ext: omni.kit.property.physx-107.3.26] startup +[7.589s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.624s] [ext: omni.asset_validator.core-1.1.6] startup +[7.737s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.743s] [ext: omni.physx.vehicle-107.3.26] startup +[7.767s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.784s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.791s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.800s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.815s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.822s] [ext: omni.physx.camera-107.3.26] startup +[7.840s] [ext: omni.anim.curve.core-1.3.1] startup +[7.870s] [ext: omni.physx.cct-107.3.26] startup +[7.896s] [ext: omni.physx.graph-107.3.26] startup +[7.929s] [ext: omni.physx.supportui-107.3.26] startup +[7.981s] [ext: omni.physx.telemetry-107.3.26] startup +[8.000s] [ext: isaaclab-0.54.3] startup +[8.399s] [ext: isaaclab_contrib-0.0.2] startup +[8.402s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.404s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.410s] [ext: semantics.schema.property-2.0.1] startup +[8.413s] [ext: omni.physx.bundle-107.3.26] startup +[8.417s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.423s] [ext: isaaclab_assets-0.2.4] startup +[8.738s] [ext: isaaclab_tasks-0.11.14] startup +[8.912s] [ext: omni.kit.menu.common-2.0.1] startup +[8.915s] [ext: isaaclab_rl-0.5.0] startup +[8.918s] [ext: isaaclab_mimic-1.0.16] startup +[8.920s] [ext: isaaclab.python-2.3.2] startup +[8.924s] Simulation App Starting +2026-07-23T23:33:09Z [8,980ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:33:09Z [8,985ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:33:09Z [8,985ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:33:09Z [8,985ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:33:09Z [9,016ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.078s] app ready +2026-07-23T23:33:10Z [10,036ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:33:10Z [10,036ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:33:10Z [10,036ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:33:10Z [10,036ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.501s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=36 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=36 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-33-31.log +====================================================================================== + +07:33:31 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 36 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:33:32Z [31,869ms] [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 +2026-07-23T23:33:32Z [31,972ms] [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. +2026-07-23T23:33:32Z [31,988ms] [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. +2026-07-23T23:33:32Z [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. +[INFO]: Time taken for scene creation : 0.465092 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:33:32Z [32,015ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +2026-07-23T23:33:32Z [32,022ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +2026-07-23T23:33:32Z [32,499ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +2026-07-23T23:33:32Z [32,499ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +2026-07-23T23:33:32Z [32,503ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +2026-07-23T23:33:32Z [32,503ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +2026-07-23T23:33:32Z [32,503ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +2026-07-23T23:33:32Z [32,503ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5630fcb532c0:World0.usd@ <0x5630fcb542c0>) + +[INFO]: Time taken for simulation start : 0.729464 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:33:41Z [41,115ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:33:41Z [41,570ms] [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 +2026-07-23T23:33:41Z [41,570ms] [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 +2026-07-23T23:33:41Z [41,570ms] [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 +2026-07-23T23:33:41Z [41,570ms] [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 +2026-07-23T23:33:53Z [52,886ms] [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=36 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.0758029967546463, -0.16497400403022766, 0.7724999785423279], 'quat': [0.5935500264167786, -0.0, -0.0, 0.8047969937324524]}, 't1': {'center': [0.05527700111269951, -0.1590469926595688, 0.7724999785423279], 'quat': [0.2963840067386627, -9.999999974752427e-07, -9.999999974752427e-07, 0.9550690054893494]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07580000162124634, -0.16500000655651093, 0.7724999785423279] pick_tcp=[-0.07880000025033951, -0.15539999306201935, 0.7724999785423279] waypoints=40 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0258 tracking_error=0.0034 gripper_position=0.3722 secured=True +[collect][auto_swap_T] left_stage observed=[-0.1014999970793724, -0.16279999911785126, 0.7724999785423279] target=[-0.195700004696846, -0.1703999936580658, 0.7724999785423279] waypoints=12 +[collect][auto_swap_T] phase=left_stage waypoints=12 +[collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.0945 tracking_error=0.0030 gripper_position=0.1568 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19589999318122864, -0.16740000247955322, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.14970000088214874, -0.0003000000142492354, -0.012900000438094139] +[collect][auto_swap_T] right_pick label=t1 center=[0.05530000105500221, -0.1589999943971634, 0.7724999785423279] pick_tcp=[0.04699999839067459, -0.1534000039100647, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0043 tracking_error=0.0207 gripper_position=0.7469 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.05950000137090683, -0.15809999406337738, 0.7724999785423279] target=[0.17520000040531158, -0.15360000729560852, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1055 tracking_error=0.0108 gripper_position=0.3517 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.1648000031709671, -0.15070000290870667, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.15230000019073486, 0.010099999606609344, 0.009399999864399433] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=68.17 +[collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect][auto_swap_T] left_rotate step=20 xy=0.0001 z=0.0000 yaw_deg=34.84 +[collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect][auto_swap_T] left_rotate step=40 xy=0.0001 z=0.0001 yaw_deg=0.16 +[collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect][auto_swap_T] left_align step=60 xy=0.1864 z=0.0003 yaw_deg=0.01 +[collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect][auto_swap_T] left_align step=80 xy=0.1009 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect][auto_swap_T] left_align step=100 xy=0.0158 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect][auto_swap_T] left_align step=103 xy=0.0031 z=0.0001 yaw_deg=-0.03 +[collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect][auto_swap_T] left_align step=105 xy=0.0034 z=0.0001 yaw_deg=0.49 +[collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect][auto_swap_T] left_release step=110 xy=0.0012 z=0.0005 yaw_deg=0.06 +[collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect][auto_swap_T] left_release step=120 xy=0.0019 z=0.0040 yaw_deg=-2.06 +[collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect][auto_swap_T] left_feedback released center=[0.055799998342990875, -0.15729999542236328, 0.7724999785423279] quat=[0.2791000008583069, -0.0, -0.0, 0.9603000283241272] +[collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.16949999332427979, -0.1469999998807907, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.15209999680519104, 0.009800000116229057, 0.00930000003427267] +[collect][auto_swap_T] right_detour obstacle=[0.05530000105500221, -0.1589999943971634, 0.7724999785423279] waypoint=[0.04820000007748604, -0.003000000026077032, 0.7926999926567078] clearance=0.1562 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07580000162124634, -0.16500000655651093, 0.7724999785423279] waypoints=67 +[collect][auto_swap_T] phase=right_place waypoints=67 +[collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.57 +[collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect][auto_swap_T] right_align step=8 xy=0.0017 z=0.0004 yaw_deg=-0.05 +[collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect][auto_swap_T] right_release step=13 xy=0.0002 z=0.0003 yaw_deg=-0.02 +[collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0002 z=0.0040 yaw_deg=-0.03 +[collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect][auto_swap_T] right_feedback released center=[-0.07569999992847443, -0.16509999334812164, 0.7724999785423279] quat=[0.5932999849319458, 0.0, 0.0, 0.8050000071525574] +[collect] demo=0 step=350/700 +env0 step: 350 / 700 [collect] demo=0 step=351/700 +env0 step: 351 / 700 [collect] demo=0 step=352/700 +env0 step: 352 / 700 [collect] demo=0 step=353/700 +env0 step: 353 / 700 [collect] demo=0 step=354/700 +env0 step: 354 / 700 [collect] demo=0 step=355/700 +env0 step: 355 / 700 [collect] demo=0 step=356/700 +env0 step: 356 / 700 [collect] demo=0 step=357/700 +env0 step: 357 / 700 [collect] demo=0 step=358/700 +env0 step: 358 / 700 [collect] demo=0 step=359/700 +env0 step: 359 / 700 [collect] demo=0 step=360/700 +env0 step: 360 / 700 [collect] demo=0 step=361/700 +env0 step: 361 / 700 [collect] demo=0 step=362/700 +env0 step: 362 / 700 [collect] demo=0 step=363/700 +env0 step: 363 / 700 [collect] demo=0 step=364/700 +env0 step: 364 / 700 [collect] demo=0 step=365/700 +env0 step: 365 / 700 [collect] demo=0 step=366/700 +env0 step: 366 / 700 [collect] demo=0 step=367/700 +env0 step: 367 / 700 [collect] demo=0 step=368/700 +env0 step: 368 / 700 [collect] demo=0 step=369/700 +env0 step: 369 / 700 [collect] demo=0 step=370/700 +env0 step: 370 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.055803, -0.157267, 0.7725], 'quat': [0.279132, -1e-06, -1e-06, 0.960253]}, 't1': {'pos': [-0.075703, -0.165116, 0.7725], 'quat': [0.593326, 0.0, 2e-06, 0.804962]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed36_diag700.hdf5 +2026-07-23T23:35:44Z [164,551ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:35:44Z [164,552ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[164.981s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed38_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed38_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..251270cf3c88226c352e0ca52b3480bf3fa4d60b --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed38_diag700.log @@ -0,0 +1,817 @@ +[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_073454.log +[0.071s] [ext: omni.kit.async_engine-0.0.3] startup +[0.233s] [ext: omni.metrics.core-0.0.3] startup +[0.233s] [ext: omni.client.lib-1.1.0] startup +[0.252s] [ext: omni.blobkey-1.1.2] startup +[0.252s] [ext: omni.stats-1.0.1] startup +[0.254s] [ext: omni.datastore-0.0.0] startup +[0.260s] [ext: omni.client-1.3.0] startup +[0.266s] [ext: omni.ujitso.default-1.0.0] startup +[0.268s] [ext: omni.hsscclient-1.1.2] startup +[0.291s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.293s] [ext: omni.assets.plugins-0.0.0] startup +[0.294s] [ext: omni.gpu_foundation-0.0.0] startup +[0.301s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:34:54Z [273ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:54Z [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) +[0.302s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:34:54Z [395ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:34:54Z [397ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:34:54Z [397ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:34:54Z [397ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:34:54Z [468ms] [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. +2026-07-23T23:34:55Z [1,270ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:34:55Z [1,270ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:34:55Z [1,274ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:34:55Z [1,274ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:34:55Z [1,281ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:34:55Z [1,281ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:34:55Z [1,282ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:34:55Z [1,282ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:34:55Z [1,282ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:34:55Z [1,282ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:34:55Z [1,282ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:34:55Z [1,282ms] [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: 11868 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.151s] [ext: omni.materialx.libs-1.0.7] startup +[2.160s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.161s] [ext: omni.kit.test-2.0.1] startup +[2.204s] [ext: omni.kit.pipapi-0.0.0] startup +[2.205s] [ext: omni.usd.config-1.0.6] startup +[2.208s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.209s] [ext: omni.usd.libs-1.0.1] startup +[2.318s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.318s] [ext: omni.mdl-56.0.3] startup +[2.341s] [ext: omni.iray.libs-0.0.0] startup +[2.348s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.352s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.462s] [ext: omni.kit.telemetry-0.5.2] startup +[2.506s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:34:56Z [2,478ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:56Z [2,478ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.511s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:34:56Z [2,507ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:56Z [2,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:34:56Z [2,518ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:56Z [2,518ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.549s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.554s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:34:56Z [2,529ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:56Z [2,529ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:34:56Z [2,530ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:56Z [2,530ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:34:56Z [2,531ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:34:56Z [2,531ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.660s] [ext: omni.ui-2.27.1] startup +[2.674s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.676s] [ext: carb.audio-0.1.0] startup +[2.714s] [ext: omni.uiaudio-1.0.0] startup +[2.716s] [ext: omni.kit.uiapp-0.0.0] startup +[2.716s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.720s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.727s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.730s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.734s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.737s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.762s] [ext: omni.usd_resolver-1.0.0] startup +[2.766s] [ext: omni.usd.core-1.5.3] startup +[2.770s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.795s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.804s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.840s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.841s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.842s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.847s] [ext: omni.graph.exec-0.9.6] startup +[2.847s] [ext: omni.kit.actions.core-1.0.0] startup +[2.850s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.850s] [ext: omni.kit.exec.core-0.13.4] startup +[2.852s] [ext: omni.kit.commands-1.4.10] startup +[2.856s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.860s] [ext: omni.activity.core-1.0.3] startup +[2.861s] [ext: omni.resourcemonitor-107.0.1] startup +[2.864s] [ext: omni.timeline-1.0.14] startup +[2.866s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.868s] [ext: usdrt.scenegraph-7.6.1] startup +[2.909s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.911s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.919s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.925s] [ext: omni.usd-1.13.10] startup +[2.954s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.968s] [ext: omni.index.libs-380600.8087.0] startup +[2.968s] [ext: omni.volume-0.5.2] startup +[2.971s] [ext: omni.ujitso.client-0.0.0] startup +[2.971s] [ext: omni.index-1.0.1] startup +[2.972s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.973s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:34:57Z [2,967ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.015s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.017s] [ext: omni.kit.clipboard-1.0.5] startup +[3.018s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.021s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.028s] [ext: omni.kit.menu.core-1.1.2] startup +[3.029s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.031s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.033s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.034s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.035s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.036s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.040s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.041s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.050s] [ext: omni.ui.scene-1.11.5] startup +[3.055s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.056s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.072s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.080s] [ext: omni.kit.context_menu-1.8.6] startup +[3.082s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.088s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.093s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.095s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.096s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.096s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.101s] [ext: omni.kit.material.library-2.0.7] startup +[3.107s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.110s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.112s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.128s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.132s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.138s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.139s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.144s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.148s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.149s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.151s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.153s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.154s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.155s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.161s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.164s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.165s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.167s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.168s] [ext: omni.fabric.commands-1.1.6] startup +[3.170s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.172s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.173s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.174s] [ext: omni.debugdraw-0.1.4] startup +[3.180s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.191s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.192s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.192s] [ext: omni.kvdb-107.3.26] startup +[3.194s] [ext: omni.convexdecomposition-107.3.26] startup +[3.197s] [ext: omni.physx.foundation-107.3.26] startup +[3.199s] [ext: omni.localcache-107.3.26] startup +[3.200s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.201s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.201s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.202s] [ext: omni.usdphysics-107.3.26] startup +[3.205s] [ext: omni.kit.window.file-2.0.5] startup +[3.207s] [ext: omni.physx.cooking-107.3.26] startup +[3.211s] [ext: omni.physics-107.3.26] startup +[3.214s] [ext: omni.kit.window.property-1.12.1] startup +[3.217s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.231s] [ext: omni.physx-107.3.26] startup +[3.242s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.244s] [ext: omni.kit.property.usd-4.5.12] startup +[3.262s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.264s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:34:57Z [3,239ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.269s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.269s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.284s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.288s] [ext: omni.inspect-1.0.2] startup +[3.290s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.304s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.305s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.315s] [ext: omni.graph.core-2.184.5] startup +[3.318s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.320s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.350s] [ext: omni.physx.commands-107.3.26] startup +[3.354s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.355s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:34:57Z [3,333ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.363s] [ext: omni.physx.ui-107.3.26] startup +[3.398s] [ext: isaacsim.core.version-2.0.6] startup +[3.398s] [ext: omni.physics.tensors-107.3.26] startup +[3.406s] [ext: omni.warp.core-1.8.2] startup +[3.608s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.610s] [ext: isaacsim.storage.native-1.5.1] startup +[3.612s] [ext: omni.physx.tensors-107.3.26] startup +[3.618s] [ext: isaacsim.core.utils-3.5.1] startup +[3.622s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[5.189s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[5.192s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[5.194s] [ext: omni.kit.window.stage-2.6.1] startup +[5.199s] [ext: omni.kit.menu.create-2.0.1] startup +[5.200s] [ext: omni.kit.window.extensions-1.4.27] startup +[5.206s] [ext: omni.kit.scripting-107.3.2] startup +[5.211s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.215s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.215s] [ext: omni.graph.tools-1.79.2] startup +[5.239s] [ext: omni.ui_query-1.1.8] startup +[5.239s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.240s] [ext: omni.graph-1.141.2] startup +[5.284s] [ext: omni.graph.action_core-1.1.7] startup +[5.289s] [ext: omni.kit.ui_test-1.3.7] startup +[5.290s] [ext: omni.kit.browser.core-2.3.13] startup +[5.295s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.300s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.304s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.313s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.325s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.331s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.346s] [ext: omni.graph.action-1.130.0] startup +[5.351s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.357s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.365s] [ext: isaacsim.gui.components-1.2.1] startup +[5.373s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.385s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.537s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.543s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.554s] [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( +[5.671s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:34:59Z [5,651ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.682s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.685s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.690s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.697s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.701s] [ext: omni.graph.image.core-0.6.1] startup +[5.704s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.705s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.708s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.712s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.715s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.718s] [ext: omni.graph.nodes-1.170.10] startup +[5.729s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.737s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.743s] [ext: omni.syntheticdata-0.6.13] startup +[5.793s] [ext: omni.videoencoding-0.1.2] startup +[5.801s] [ext: omni.warp-1.8.2] startup +[5.813s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.844s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.851s] [ext: isaacsim.core.prims-0.6.1] startup +[5.973s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.996s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:35:00Z [6,325ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:35:00Z [6,325ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:35:00Z [6,326ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.364s] [ext: isaacsim.core.api-4.8.0] startup +[6.466s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.624s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.644s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.659s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.684s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.716s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.731s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.762s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.787s] [ext: omni.sensors.net-1.0.0] startup +[6.814s] [ext: isaacsim.app.about-2.0.11] startup +[6.842s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.845s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.851s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.943s] [ext: omni.kit.property.audio-1.0.16] startup +[6.981s] [ext: omni.kit.property.camera-1.0.10] startup +[6.997s] [ext: omni.kit.property.geometry-2.0.4] startup +[7.047s] [ext: omni.hydra.scene_api-0.1.2] startup +[7.078s] [ext: omni.kit.property.light-1.0.12] startup +[7.149s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.156s] [ext: omni.kit.selection-0.1.6] startup +[7.171s] [ext: omni.kit.property.material-1.11.9] startup +[7.448s] [ext: omni.kit.property.transform-1.5.13] startup +[7.562s] [ext: omni.kit.property.render-1.2.1] startup +[7.603s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.613s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.834s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.883s] [ext: isaacsim.gui.property-1.1.3] startup +[7.898s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.917s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.956s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.989s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[8.067s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[8.084s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[8.103s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[8.111s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[8.114s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[8.125s] [ext: omni.kit.window.console-1.1.4] startup +[8.138s] [ext: omni.rtx.window.settings-0.6.19] startup +[8.160s] [ext: omni.ocio-0.1.1] startup +[8.166s] [ext: omni.physx.demos-107.3.26] startup +[8.218s] [ext: omni.kit.property.physx-107.3.26] startup +[8.248s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.269s] [ext: omni.asset_validator.core-1.1.6] startup +[8.346s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.352s] [ext: omni.physx.vehicle-107.3.26] startup +[8.373s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.389s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.395s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.403s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.419s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.427s] [ext: omni.physx.camera-107.3.26] startup +[8.441s] [ext: omni.anim.curve.core-1.3.1] startup +[8.460s] [ext: omni.physx.cct-107.3.26] startup +[8.482s] [ext: omni.physx.graph-107.3.26] startup +[8.507s] [ext: omni.physx.supportui-107.3.26] startup +[8.539s] [ext: omni.physx.telemetry-107.3.26] startup +[8.549s] [ext: isaaclab-0.54.3] startup +[8.906s] [ext: isaaclab_contrib-0.0.2] startup +[8.908s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.911s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.917s] [ext: semantics.schema.property-2.0.1] startup +[8.921s] [ext: omni.physx.bundle-107.3.26] startup +[8.925s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.930s] [ext: isaaclab_assets-0.2.4] startup +[9.246s] [ext: isaaclab_tasks-0.11.14] startup +[9.418s] [ext: omni.kit.menu.common-2.0.1] startup +[9.421s] [ext: isaaclab_rl-0.5.0] startup +[9.424s] [ext: isaaclab_mimic-1.0.16] startup +[9.426s] [ext: isaaclab.python-2.3.2] startup +[9.429s] Simulation App Starting +2026-07-23T23:35:03Z [9,503ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:35:03Z [9,508ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:35:03Z [9,508ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:35:03Z [9,508ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:35:03Z [9,537ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +2026-07-23T23:35:03Z [9,564ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:ior_constant) +2026-07-23T23:35:03Z [9,564ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:reflection_roughness_constant) +2026-07-23T23:35:03Z [9,564ms] [Warning] [usdrt.population.plugin] [UsdNoticeHandler] Unhandled attribute type VtArray (prim attribute: omni:rtx:material:db:flattener:transmittance_color) +[9.607s] app ready +2026-07-23T23:35:04Z [10,112ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:35:04Z [10,112ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:35:04Z [10,112ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:35:04Z [10,112ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.684s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=38 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=38 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-35-26.log +====================================================================================== + +07:35:26 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 38 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:35:26Z [32,947ms] [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 +2026-07-23T23:35:27Z [33,019ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels. +2026-07-23T23:35:27Z [33,038ms] [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. +2026-07-23T23:35:27Z [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. +[INFO]: Time taken for scene creation : 0.364660 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:35:27Z [33,065ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +2026-07-23T23:35:27Z [33,072ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +2026-07-23T23:35:27Z [33,576ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +2026-07-23T23:35:27Z [33,577ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +2026-07-23T23:35:27Z [33,579ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +2026-07-23T23:35:27Z [33,580ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +2026-07-23T23:35:27Z [33,580ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +2026-07-23T23:35:27Z [33,580ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5585bf4b2e10:World0.usd@ <0x5585bf4b3e10>) + +[INFO]: Time taken for simulation start : 0.758029 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:35:38Z [44,593ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:35:38Z [44,910ms] [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 +2026-07-23T23:35:38Z [44,910ms] [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 +2026-07-23T23:35:38Z [44,910ms] [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 +2026-07-23T23:35:38Z [44,910ms] [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 +2026-07-23T23:35:51Z [57,169ms] [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=38 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.060509998351335526, -0.17906899750232697, 0.7724999785423279], 'quat': [-0.45323699712753296, -9.999999974752427e-07, 0.0, 0.8913900256156921]}, 't1': {'center': [0.07776299864053726, -0.15926599502563477, 0.7724999785423279], 'quat': [-0.19586299359798431, -0.0, 9.999999974752427e-07, 0.9806309938430786]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.060499999672174454, -0.17910000681877136, 0.7724999785423279] pick_tcp=[-0.06639999896287918, -0.18709999322891235, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0070 tracking_error=0.0291 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.05620000138878822, -0.18459999561309814, 0.7724999785423279] target=[-0.179299995303154, -0.19609999656677246, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=left_stage waypoints=15 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1278 tracking_error=0.0118 gripper_position=0.1583 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.18410000205039978, -0.18529999256134033, 0.7732999920845032] lifted=0.0008 ee_to_object_pos=[0.15150000154972076, 0.0, 0.016699999570846558] +[collect][auto_swap_T] right_pick label=t1 center=[0.07779999822378159, -0.15929999947547913, 0.7724999785423279] pick_tcp=[0.06849999725818634, -0.163100004196167, 0.7724999785423279] waypoints=40 +[collect][auto_swap_T] phase=right_pick waypoints=40 +[collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0146 tracking_error=0.0159 gripper_position=0.1596 secured=True +[collect][auto_swap_T] right_stage observed=[0.08810000121593475, -0.14900000393390656, 0.7731999754905701] target=[0.19660000503063202, -0.14229999482631683, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=right_stage waypoints=13 +[collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1081 tracking_error=0.0007 gripper_position=0.1696 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.19599999487400055, -0.14180000126361847, 0.7735999822616577] lifted=0.0011 ee_to_object_pos=[0.1500999927520752, 0.0003000000142492354, 0.009499999694526196] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=1.04 +[collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect][auto_swap_T] left_rotate step=2 xy=0.0002 z=0.0000 yaw_deg=-0.18 +[collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect][auto_swap_T] left_align step=20 xy=0.2058 z=0.0003 yaw_deg=0.00 +[collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect][auto_swap_T] left_align step=40 xy=0.1199 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect][auto_swap_T] left_align step=60 xy=0.0344 z=0.0001 yaw_deg=-0.04 +[collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect][auto_swap_T] left_align step=68 xy=0.0007 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect][auto_swap_T] left_release step=73 xy=0.0001 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect][auto_swap_T] left_release step=80 xy=0.0004 z=0.0040 yaw_deg=0.04 +[collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect][auto_swap_T] left_feedback released center=[0.07729999721050262, -0.15919999778270721, 0.7724999785423279] quat=[-0.19550000131130219, 0.0, 0.0, 0.9807000160217285] +[collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.19370000064373016, -0.14350000023841858, 0.7738000154495239] lifted=0.0013 ee_to_object_pos=[0.15000000596046448, -0.00019999999494757503, 0.009600000455975533] +[collect][auto_swap_T] right_detour obstacle=[0.07779999822378159, -0.15929999947547913, 0.7724999785423279] waypoint=[0.10180000215768814, -0.3269999921321869, 0.7937999963760376] clearance=0.1695 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.060499999672174454, -0.17910000681877136, 0.7724999785423279] waypoints=70 +[collect][auto_swap_T] phase=right_place waypoints=70 +[collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=0.04 +[collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0011 z=0.0040 yaw_deg=-0.02 +[collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.01 +[collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0004 z=0.0040 yaw_deg=-0.14 +[collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect][auto_swap_T] right_feedback released center=[-0.06080000102519989, -0.1793999969959259, 0.7724999785423279] quat=[-0.4542999863624573, 0.0, -0.0, 0.8907999992370605] +[collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.077346, -0.15921, 0.7725], 'quat': [-0.195492, 0.0, -0.0, 0.980705]}, 't1': {'pos': [-0.060787, -0.179396, 0.7725], 'quat': [-0.454314, 2e-06, -3e-06, 0.890842]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed38_diag700.hdf5 +2026-07-23T23:37:37Z [163,736ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:37:37Z [163,736ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[164.181s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed40_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed40_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..7f35877def10ecd6d211893f379692da01706f1b --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed40_diag700.log @@ -0,0 +1,857 @@ +[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_074455.log +[0.067s] [ext: omni.kit.async_engine-0.0.3] startup +[0.223s] [ext: omni.metrics.core-0.0.3] startup +[0.224s] [ext: omni.client.lib-1.1.0] startup +[0.241s] [ext: omni.blobkey-1.1.2] startup +[0.241s] [ext: omni.stats-1.0.1] startup +[0.242s] [ext: omni.datastore-0.0.0] startup +[0.248s] [ext: omni.client-1.3.0] startup +[0.254s] [ext: omni.ujitso.default-1.0.0] startup +[0.256s] [ext: omni.hsscclient-1.1.2] startup +[0.279s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.282s] [ext: omni.assets.plugins-0.0.0] startup +[0.283s] [ext: omni.gpu_foundation-0.0.0] startup +[0.290s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:44:56Z [263ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:44:56Z [263ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.291s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:44:56Z [357ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:44:56Z [365ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:44:56Z [365ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:44:56Z [365ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:44:56Z [406ms] [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. +2026-07-23T23:44:56Z [1,063ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:44:56Z [1,064ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:44:56Z [1,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:44:56Z [1,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:44:56Z [1,071ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:44:56Z [1,072ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:44:56Z [1,072ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:44:56Z [1,072ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:44:56Z [1,072ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:44:56Z [1,072ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:44:56Z [1,072ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:44:56Z [1,072ms] [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: 13327 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.923s] [ext: omni.materialx.libs-1.0.7] startup +[1.932s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.934s] [ext: omni.kit.test-2.0.1] startup +[1.977s] [ext: omni.kit.pipapi-0.0.0] startup +[1.978s] [ext: omni.usd.config-1.0.6] startup +[1.981s] [ext: omni.gpucompute.plugins-0.0.0] startup +[1.982s] [ext: omni.usd.libs-1.0.1] startup +[2.094s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.095s] [ext: omni.mdl-56.0.3] startup +[2.118s] [ext: omni.iray.libs-0.0.0] startup +[2.126s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.129s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.237s] [ext: omni.kit.telemetry-0.5.2] startup +[2.281s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:44:58Z [2,255ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:44:58Z [2,255ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.286s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:44:58Z [2,276ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:44:58Z [2,276ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:44:58Z [2,285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:44:58Z [2,286ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.315s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.318s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:44:58Z [2,293ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:44:58Z [2,293ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:44:58Z [2,295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:44:58Z [2,295ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:44:58Z [2,296ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:44:58Z [2,296ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.424s] [ext: omni.ui-2.27.1] startup +[2.435s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.436s] [ext: carb.audio-0.1.0] startup +[2.464s] [ext: omni.uiaudio-1.0.0] startup +[2.465s] [ext: omni.kit.uiapp-0.0.0] startup +[2.466s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.468s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.477s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.481s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.485s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.488s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.513s] [ext: omni.usd_resolver-1.0.0] startup +[2.517s] [ext: omni.usd.core-1.5.3] startup +[2.521s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.547s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.558s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.595s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.596s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.597s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.602s] [ext: omni.graph.exec-0.9.6] startup +[2.603s] [ext: omni.kit.actions.core-1.0.0] startup +[2.605s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.606s] [ext: omni.kit.exec.core-0.13.4] startup +[2.607s] [ext: omni.kit.commands-1.4.10] startup +[2.613s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.617s] [ext: omni.activity.core-1.0.3] startup +[2.619s] [ext: omni.resourcemonitor-107.0.1] startup +[2.621s] [ext: omni.timeline-1.0.14] startup +[2.623s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.625s] [ext: usdrt.scenegraph-7.6.1] startup +[2.667s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.668s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.676s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.682s] [ext: omni.usd-1.13.10] startup +[2.712s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.725s] [ext: omni.index.libs-380600.8087.0] startup +[2.725s] [ext: omni.volume-0.5.2] startup +[2.729s] [ext: omni.ujitso.client-0.0.0] startup +[2.729s] [ext: omni.index-1.0.1] startup +[2.730s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.732s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:44:58Z [2,727ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.775s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.777s] [ext: omni.kit.clipboard-1.0.5] startup +[2.778s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.781s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.787s] [ext: omni.kit.menu.core-1.1.2] startup +[2.788s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.791s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.792s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.793s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.794s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.795s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.799s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.800s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.809s] [ext: omni.ui.scene-1.11.5] startup +[2.813s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.814s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.829s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.837s] [ext: omni.kit.context_menu-1.8.6] startup +[2.838s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.844s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.849s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.851s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.852s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.853s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.857s] [ext: omni.kit.material.library-2.0.7] startup +[2.862s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.865s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.867s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.884s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.888s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.893s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.894s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.898s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.902s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.903s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.905s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.907s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.907s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.908s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.915s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.918s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.918s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.920s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.921s] [ext: omni.fabric.commands-1.1.6] startup +[2.924s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.925s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.926s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.928s] [ext: omni.debugdraw-0.1.4] startup +[2.932s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.943s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.944s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.944s] [ext: omni.kvdb-107.3.26] startup +[2.945s] [ext: omni.convexdecomposition-107.3.26] startup +[2.949s] [ext: omni.physx.foundation-107.3.26] startup +[2.950s] [ext: omni.localcache-107.3.26] startup +[2.952s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[2.952s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[2.953s] [ext: omni.kit.stage_template.core-1.1.22] startup +[2.954s] [ext: omni.usdphysics-107.3.26] startup +[2.956s] [ext: omni.kit.window.file-2.0.5] startup +[2.959s] [ext: omni.physx.cooking-107.3.26] startup +[2.963s] [ext: omni.physics-107.3.26] startup +[2.966s] [ext: omni.kit.window.property-1.12.1] startup +[2.968s] [ext: omni.kit.window.content_browser-3.1.3] startup +[2.980s] [ext: omni.physx-107.3.26] startup +[2.991s] [ext: omni.physics.stageupdate-107.3.26] startup +[2.993s] [ext: omni.kit.property.usd-4.5.12] startup +[3.004s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.005s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:44:58Z [2,979ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.008s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.008s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.022s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.027s] [ext: omni.inspect-1.0.2] startup +[3.028s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.040s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.041s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.049s] [ext: omni.graph.core-2.184.5] startup +[3.054s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.055s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.084s] [ext: omni.physx.commands-107.3.26] startup +[3.089s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.089s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:44:58Z [3,068ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.097s] [ext: omni.physx.ui-107.3.26] startup +[3.134s] [ext: isaacsim.core.version-2.0.6] startup +[3.135s] [ext: omni.physics.tensors-107.3.26] startup +[3.140s] [ext: omni.warp.core-1.8.2] startup +[3.351s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.353s] [ext: isaacsim.storage.native-1.5.1] startup +[3.354s] [ext: omni.physx.tensors-107.3.26] startup +[3.360s] [ext: isaacsim.core.utils-3.5.1] startup +[3.364s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.975s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.976s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.980s] [ext: omni.kit.window.stage-2.6.1] startup +[4.986s] [ext: omni.kit.menu.create-2.0.1] startup +[4.987s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.994s] [ext: omni.kit.scripting-107.3.2] startup +[4.999s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.003s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.004s] [ext: omni.graph.tools-1.79.2] startup +[5.028s] [ext: omni.ui_query-1.1.8] startup +[5.028s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.029s] [ext: omni.graph-1.141.2] startup +[5.074s] [ext: omni.graph.action_core-1.1.7] startup +[5.076s] [ext: omni.kit.ui_test-1.3.7] startup +[5.080s] [ext: omni.kit.browser.core-2.3.13] startup +[5.085s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.091s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.096s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.102s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.116s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.126s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.142s] [ext: omni.graph.action-1.130.0] startup +[5.145s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.152s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.161s] [ext: isaacsim.gui.components-1.2.1] startup +[5.171s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.178s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.346s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.354s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.375s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.480s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:45:01Z [5,460ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.490s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.493s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.500s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.509s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.514s] [ext: omni.graph.image.core-0.6.1] startup +[5.516s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.517s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.520s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.524s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.527s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.530s] [ext: omni.graph.nodes-1.170.10] startup +[5.551s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.560s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.570s] [ext: omni.syntheticdata-0.6.13] startup +[5.620s] [ext: omni.videoencoding-0.1.2] startup +[5.627s] [ext: omni.warp-1.8.2] startup +[5.638s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.672s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.681s] [ext: isaacsim.core.prims-0.6.1] startup +[5.795s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.819s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:45:02Z [6,154ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:45:02Z [6,154ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:45:02Z [6,156ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[6.197s] [ext: isaacsim.core.api-4.8.0] startup +[6.250s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.370s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.394s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.409s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.438s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.479s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.557s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.609s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.638s] [ext: omni.sensors.net-1.0.0] startup +[6.662s] [ext: isaacsim.app.about-2.0.11] startup +[6.686s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.688s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.701s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.735s] [ext: omni.kit.property.audio-1.0.16] startup +[6.773s] [ext: omni.kit.property.camera-1.0.10] startup +[6.802s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.872s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.963s] [ext: omni.kit.property.light-1.0.12] startup +[7.205s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[7.213s] [ext: omni.kit.selection-0.1.6] startup +[7.241s] [ext: omni.kit.property.material-1.11.9] startup +[7.321s] [ext: omni.kit.property.transform-1.5.13] startup +[7.334s] [ext: omni.kit.property.render-1.2.1] startup +[7.338s] [ext: omni.sensors.nv.radar-3.0.0] startup +[7.343s] [ext: isaacsim.gui.menu-2.4.4] startup +[7.359s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.373s] [ext: isaacsim.gui.property-1.1.3] startup +[7.381s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.387s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.406s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.761s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.786s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.803s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.831s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.840s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.844s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.870s] [ext: omni.kit.window.console-1.1.4] startup +[7.884s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.899s] [ext: omni.ocio-0.1.1] startup +[7.907s] [ext: omni.physx.demos-107.3.26] startup +[7.956s] [ext: omni.kit.property.physx-107.3.26] startup +[8.004s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[8.034s] [ext: omni.asset_validator.core-1.1.6] startup +[8.121s] [ext: omni.rtx.settings.core-0.6.5] startup +[8.127s] [ext: omni.physx.vehicle-107.3.26] startup +[8.157s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[8.215s] [ext: omni.kit.window.script_editor-2.0.1] startup +[8.221s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[8.233s] [ext: omni.physx.asset_validator-107.3.26] startup +[8.247s] [ext: omni.kit.window.toolbar-2.0.0] startup +[8.256s] [ext: omni.physx.camera-107.3.26] startup +[8.274s] [ext: omni.anim.curve.core-1.3.1] startup +[8.292s] [ext: omni.physx.cct-107.3.26] startup +[8.314s] [ext: omni.physx.graph-107.3.26] startup +[8.330s] [ext: omni.physx.supportui-107.3.26] startup +[8.359s] [ext: omni.physx.telemetry-107.3.26] startup +[8.365s] [ext: isaaclab-0.54.3] startup +[8.625s] [ext: isaaclab_contrib-0.0.2] startup +[8.628s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.631s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.637s] [ext: semantics.schema.property-2.0.1] startup +[8.641s] [ext: omni.physx.bundle-107.3.26] startup +[8.644s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.650s] [ext: isaaclab_assets-0.2.4] startup +[8.960s] [ext: isaaclab_tasks-0.11.14] startup +[9.133s] [ext: omni.kit.menu.common-2.0.1] startup +[9.136s] [ext: isaaclab_rl-0.5.0] startup +[9.139s] [ext: isaaclab_mimic-1.0.16] startup +[9.140s] [ext: isaaclab.python-2.3.2] startup +[9.145s] Simulation App Starting +2026-07-23T23:45:05Z [9,239ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:45:05Z [9,244ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:45:05Z [9,244ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:45:05Z [9,244ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:45:05Z [9,273ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.331s] app ready +2026-07-23T23:45:06Z [10,219ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:45:06Z [10,219ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:45:06Z [10,219ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:45:06Z [10,219ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.813s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=40 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=40 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-45-28.log +====================================================================================== + +07:45:28 [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 : 40 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:45:28Z [32,841ms] [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 +2026-07-23T23:45:28Z [32,949ms] [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. +2026-07-23T23:45:28Z [32,965ms] [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. +2026-07-23T23:45:28Z [32,978ms] [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 : 0.472443 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:45:28Z [32,994ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +2026-07-23T23:45:28Z [33,000ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +2026-07-23T23:45:29Z [33,490ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +2026-07-23T23:45:29Z [33,491ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +2026-07-23T23:45:29Z [33,493ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +2026-07-23T23:45:29Z [33,494ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +2026-07-23T23:45:29Z [33,494ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +2026-07-23T23:45:29Z [33,494ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x562511dc8910:World0.usd@ <0x562511dc9910>) + +[INFO]: Time taken for simulation start : 0.742478 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:45:40Z [44,661ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:45:41Z [45,103ms] [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 +2026-07-23T23:45:41Z [45,103ms] [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 +2026-07-23T23:45:41Z [45,103ms] [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 +2026-07-23T23:45:41Z [45,103ms] [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 +2026-07-23T23:45:52Z [57,061ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[collect][auto_swap_T] reset demo=0 seed=40 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.04479699954390526, -0.15283699333667755, 0.7724999785423279], 'quat': [0.8222460150718689, -0.0, -0.0, -0.5691319704055786]}, 't1': {'center': [0.09211400151252747, -0.18501800298690796, 0.7724999785423279], 'quat': [-0.4760879874229431, 0.0, -9.999999974752427e-07, 0.8793969750404358]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.04479999840259552, -0.15279999375343323, 0.7724999785423279] pick_tcp=[-0.04129999876022339, -0.16220000386238098, 0.7724999785423279] waypoints=40 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0140 tracking_error=0.0117 gripper_position=0.3386 secured=True +[collect][auto_swap_T] left_stage observed=[-0.057500001043081284, -0.1469999998807907, 0.7724999785423279] target=[-0.1615999937057495, -0.12540000677108765, 0.7724999785423279] waypoints=13 +[collect][auto_swap_T] phase=left_stage waypoints=13 +[collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1086 tracking_error=0.0036 gripper_position=0.1541 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.1632000058889389, -0.12219999730587006, 0.7730000019073486] lifted=0.0005 ee_to_object_pos=[0.1509000062942505, -0.00039999998989515007, 0.010900000110268593] +[collect][auto_swap_T] right_pick label=t1 center=[0.09210000187158585, -0.1850000023841858, 0.7724999785423279] pick_tcp=[0.08659999817609787, -0.19339999556541443, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0062 tracking_error=0.0190 gripper_position=0.2432 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.09830000251531601, -0.18529999256134033, 0.7735999822616577] target=[0.20890000462532043, -0.21250000596046448, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1177 tracking_error=0.0039 gripper_position=0.1717 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.21279999613761902, -0.21220000088214874, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.15029999613761902, 0.0005000000237487257, 0.006200000178068876] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=23.64 +[collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect][auto_swap_T] left_rotate step=15 xy=0.0003 z=0.0000 yaw_deg=-0.21 +[collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect][auto_swap_T] left_align step=20 xy=0.2632 z=0.0035 yaw_deg=0.01 +[collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect][auto_swap_T] left_align step=40 xy=0.1704 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect][auto_swap_T] left_align step=60 xy=0.0849 z=0.0000 yaw_deg=-0.03 +[collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect][auto_swap_T] left_align step=80 xy=0.0259 z=0.0003 yaw_deg=-0.53 +[collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect][auto_swap_T] left_align step=100 xy=0.0085 z=0.0013 yaw_deg=-0.68 +[collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect][auto_swap_T] left_align step=108 xy=0.0019 z=0.0007 yaw_deg=-0.38 +[collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect][auto_swap_T] left_release step=113 xy=0.0000 z=0.0001 yaw_deg=0.08 +[collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect][auto_swap_T] left_release step=120 xy=0.0004 z=0.0040 yaw_deg=0.21 +[collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect][auto_swap_T] left_feedback released center=[0.0917000025510788, -0.1850000023841858, 0.7724999785423279] quat=[-0.47440001368522644, 0.0, -0.0, 0.880299985408783] +[collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.2565999925136566, -0.21899999678134918, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.15080000460147858, -0.00019999999494757503, 0.008700000122189522] +[collect][auto_swap_T] right_detour obstacle=[0.09210000187158585, -0.1850000023841858, 0.7724999785423279] waypoint=[0.12999999523162842, -0.023800000548362732, 0.792900025844574] clearance=0.1656 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.04479999840259552, -0.15279999375343323, 0.7724999785423279] waypoints=72 +[collect][auto_swap_T] phase=right_place waypoints=72 +[collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.01 +[collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0022 z=0.0040 yaw_deg=-0.02 +[collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.02 +[collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect] demo=0 step=350/700 +env0 step: 350 / 700 [collect] demo=0 step=351/700 +env0 step: 351 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0005 z=0.0040 yaw_deg=-0.05 +[collect] demo=0 step=352/700 +env0 step: 352 / 700 [collect] demo=0 step=353/700 +env0 step: 353 / 700 [collect] demo=0 step=354/700 +env0 step: 354 / 700 [collect] demo=0 step=355/700 +env0 step: 355 / 700 [collect] demo=0 step=356/700 +env0 step: 356 / 700 [collect][auto_swap_T] right_feedback released center=[-0.04479999840259552, -0.15330000221729279, 0.7724999785423279] quat=[0.8224999904632568, -0.0, 0.0, -0.5687999725341797] +[collect] demo=0 step=357/700 +env0 step: 357 / 700 [collect] demo=0 step=358/700 +env0 step: 358 / 700 [collect] demo=0 step=359/700 +env0 step: 359 / 700 [collect] demo=0 step=360/700 +env0 step: 360 / 700 [collect] demo=0 step=361/700 +env0 step: 361 / 700 [collect] demo=0 step=362/700 +env0 step: 362 / 700 [collect] demo=0 step=363/700 +env0 step: 363 / 700 [collect] demo=0 step=364/700 +env0 step: 364 / 700 [collect] demo=0 step=365/700 +env0 step: 365 / 700 [collect] demo=0 step=366/700 +env0 step: 366 / 700 [collect] demo=0 step=367/700 +env0 step: 367 / 700 [collect] demo=0 step=368/700 +env0 step: 368 / 700 [collect] demo=0 step=369/700 +env0 step: 369 / 700 [collect] demo=0 step=370/700 +env0 step: 370 / 700 [collect] demo=0 step=371/700 +env0 step: 371 / 700 [collect] demo=0 step=372/700 +env0 step: 372 / 700 [collect] demo=0 step=373/700 +env0 step: 373 / 700 [collect] demo=0 step=374/700 +env0 step: 374 / 700 [collect] demo=0 step=375/700 +env0 step: 375 / 700 [collect] demo=0 step=376/700 +env0 step: 376 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.091677, -0.184983, 0.7725], 'quat': [-0.474446, -0.0, -1e-06, 0.880284]}, 't1': {'pos': [-0.044753, -0.153313, 0.7725], 'quat': [0.822478, -1e-06, 1e-06, -0.568797]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed40_diag700.hdf5 +2026-07-23T23:47:53Z [177,452ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:53Z [177,452ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[177.852s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed48_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed48_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..01f2ca23950c8177ce22fcd305659c0d1ef26692 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed48_diag700.log @@ -0,0 +1,865 @@ +[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_074732.log +[0.068s] [ext: omni.kit.async_engine-0.0.3] startup +[0.225s] [ext: omni.metrics.core-0.0.3] startup +[0.225s] [ext: omni.client.lib-1.1.0] startup +[0.241s] [ext: omni.blobkey-1.1.2] startup +[0.241s] [ext: omni.stats-1.0.1] startup +[0.242s] [ext: omni.datastore-0.0.0] startup +[0.248s] [ext: omni.client-1.3.0] startup +[0.254s] [ext: omni.ujitso.default-1.0.0] startup +[0.256s] [ext: omni.hsscclient-1.1.2] startup +[0.281s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.283s] [ext: omni.assets.plugins-0.0.0] startup +[0.284s] [ext: omni.gpu_foundation-0.0.0] startup +[0.291s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:47:32Z [264ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:32Z [264ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.293s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:47:32Z [358ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:47:32Z [365ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:47:32Z [365ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:47:32Z [365ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:47:32Z [432ms] [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. +2026-07-23T23:47:33Z [1,211ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:47:33Z [1,212ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:47:33Z [1,213ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:47:33Z [1,213ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:47:33Z [1,215ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:47:33Z [1,215ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:47:33Z [1,217ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:47:33Z [1,217ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:47:33Z [1,217ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:47:33Z [1,217ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:47:33Z [1,217ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:47:33Z [1,217ms] [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: 20211 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.166s] [ext: omni.materialx.libs-1.0.7] startup +[2.175s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.177s] [ext: omni.kit.test-2.0.1] startup +[2.220s] [ext: omni.kit.pipapi-0.0.0] startup +[2.221s] [ext: omni.usd.config-1.0.6] startup +[2.224s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.225s] [ext: omni.usd.libs-1.0.1] startup +[2.346s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.347s] [ext: omni.mdl-56.0.3] startup +[2.372s] [ext: omni.iray.libs-0.0.0] startup +[2.378s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.380s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.489s] [ext: omni.kit.telemetry-0.5.2] startup +[2.544s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:47:35Z [2,517ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:35Z [2,517ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.548s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:47:35Z [2,539ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:35Z [2,539ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:47:35Z [2,548ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:35Z [2,548ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.578s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.580s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:47:35Z [2,556ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:35Z [2,556ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:47:35Z [2,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:35Z [2,557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:47:35Z [2,558ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:47:35Z [2,558ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.704s] [ext: omni.ui-2.27.1] startup +[2.720s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.723s] [ext: carb.audio-0.1.0] startup +[2.753s] [ext: omni.uiaudio-1.0.0] startup +[2.754s] [ext: omni.kit.uiapp-0.0.0] startup +[2.754s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.760s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.767s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.770s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.774s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.777s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.801s] [ext: omni.usd_resolver-1.0.0] startup +[2.806s] [ext: omni.usd.core-1.5.3] startup +[2.809s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.833s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.842s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.876s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.877s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.878s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.883s] [ext: omni.graph.exec-0.9.6] startup +[2.884s] [ext: omni.kit.actions.core-1.0.0] startup +[2.886s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.887s] [ext: omni.kit.exec.core-0.13.4] startup +[2.888s] [ext: omni.kit.commands-1.4.10] startup +[2.892s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.896s] [ext: omni.activity.core-1.0.3] startup +[2.897s] [ext: omni.resourcemonitor-107.0.1] startup +[2.899s] [ext: omni.timeline-1.0.14] startup +[2.901s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.903s] [ext: usdrt.scenegraph-7.6.1] startup +[2.942s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.944s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.952s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.958s] [ext: omni.usd-1.13.10] startup +[2.985s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.998s] [ext: omni.index.libs-380600.8087.0] startup +[2.998s] [ext: omni.volume-0.5.2] startup +[3.001s] [ext: omni.ujitso.client-0.0.0] startup +[3.001s] [ext: omni.index-1.0.1] startup +[3.002s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[3.003s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:47:35Z [3,000ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[3.047s] [ext: omni.kit.notification_manager-1.0.10] startup +[3.049s] [ext: omni.kit.clipboard-1.0.5] startup +[3.050s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[3.053s] [ext: omni.kit.raycast.query-1.1.0] startup +[3.060s] [ext: omni.kit.menu.core-1.1.2] startup +[3.061s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[3.065s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[3.067s] [ext: omni.kit.widget.path_field-2.0.11] startup +[3.068s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[3.069s] [ext: omni.kit.widget.options_button-1.0.3] startup +[3.070s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[3.074s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[3.075s] [ext: omni.kit.usd.layers-2.2.11] startup +[3.083s] [ext: omni.ui.scene-1.11.5] startup +[3.088s] [ext: omni.kit.viewport.registry-104.0.6] startup +[3.089s] [ext: omni.kit.window.filepicker-2.13.4] startup +[3.104s] [ext: omni.kit.menu.utils-2.0.5] startup +[3.111s] [ext: omni.kit.context_menu-1.8.6] startup +[3.113s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[3.119s] [ext: omni.kit.hydra_texture-1.4.6] startup +[3.123s] [ext: omni.kit.window.file_importer-1.1.18] startup +[3.125s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[3.126s] [ext: omni.kit.window.drop_support-1.0.5] startup +[3.126s] [ext: omni.kit.widget.viewport-107.1.3] startup +[3.130s] [ext: omni.kit.material.library-2.0.7] startup +[3.135s] [ext: omni.hydra.engine.stats-1.0.3] startup +[3.138s] [ext: omni.kit.widget.settings-1.2.6] startup +[3.140s] [ext: omni.kit.viewport.window-107.2.0] startup +[3.155s] [ext: omni.kit.window.preferences-1.8.0] startup +[3.160s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[3.165s] [ext: omni.kit.viewport.utility-1.1.2] startup +[3.165s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[3.169s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.173s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.174s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.176s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.178s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.179s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.180s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.186s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.189s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.190s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.192s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.193s] [ext: omni.fabric.commands-1.1.6] startup +[3.195s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.196s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.198s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.199s] [ext: omni.debugdraw-0.1.4] startup +[3.203s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.214s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.215s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.215s] [ext: omni.kvdb-107.3.26] startup +[3.217s] [ext: omni.convexdecomposition-107.3.26] startup +[3.220s] [ext: omni.physx.foundation-107.3.26] startup +[3.222s] [ext: omni.localcache-107.3.26] startup +[3.223s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.224s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.224s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.225s] [ext: omni.usdphysics-107.3.26] startup +[3.227s] [ext: omni.kit.window.file-2.0.5] startup +[3.230s] [ext: omni.physx.cooking-107.3.26] startup +[3.234s] [ext: omni.physics-107.3.26] startup +[3.237s] [ext: omni.kit.window.property-1.12.1] startup +[3.239s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.251s] [ext: omni.physx-107.3.26] startup +[3.262s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.264s] [ext: omni.kit.property.usd-4.5.12] startup +[3.274s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.275s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:47:35Z [3,249ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.277s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.278s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.291s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.295s] [ext: omni.inspect-1.0.2] startup +[3.297s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.308s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.309s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.316s] [ext: omni.graph.core-2.184.5] startup +[3.320s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.321s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.349s] [ext: omni.physx.commands-107.3.26] startup +[3.353s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.353s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:47:35Z [3,331ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.360s] [ext: omni.physx.ui-107.3.26] startup +[3.392s] [ext: isaacsim.core.version-2.0.6] startup +[3.393s] [ext: omni.physics.tensors-107.3.26] startup +[3.398s] [ext: omni.warp.core-1.8.2] startup +[3.590s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.592s] [ext: isaacsim.storage.native-1.5.1] startup +[3.594s] [ext: omni.physx.tensors-107.3.26] startup +[3.599s] [ext: isaacsim.core.utils-3.5.1] startup +[3.602s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.981s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.982s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.984s] [ext: omni.kit.window.stage-2.6.1] startup +[4.988s] [ext: omni.kit.menu.create-2.0.1] startup +[4.989s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.995s] [ext: omni.kit.scripting-107.3.2] startup +[5.000s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[5.003s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[5.004s] [ext: omni.graph.tools-1.79.2] startup +[5.031s] [ext: omni.ui_query-1.1.8] startup +[5.032s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[5.032s] [ext: omni.graph-1.141.2] startup +[5.080s] [ext: omni.graph.action_core-1.1.7] startup +[5.082s] [ext: omni.kit.ui_test-1.3.7] startup +[5.086s] [ext: omni.kit.browser.core-2.3.13] startup +[5.091s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.095s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.100s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.105s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.115s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.120s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.142s] [ext: omni.graph.action-1.130.0] startup +[5.149s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.153s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.161s] [ext: isaacsim.gui.components-1.2.1] startup +[5.167s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.174s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.319s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.331s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.342s] [ext: isaacsim.asset.browser-1.3.23] startup +/root/autodl-tmp/conda_envs/RoboDojo/lib/python3.11/site-packages/requests/__init__.py:113: RequestsDependencyWarning: urllib3 (2.5.0) or chardet (7.4.3)/charset_normalizer (3.3.2) doesn't match a supported version! + warnings.warn( +[5.445s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:47:37Z [5,425ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.456s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.456s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.460s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.468s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.472s] [ext: omni.graph.image.core-0.6.1] startup +[5.475s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.476s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.478s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.482s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.485s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.487s] [ext: omni.graph.nodes-1.170.10] startup +[5.499s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.504s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.510s] [ext: omni.syntheticdata-0.6.13] startup +[5.547s] [ext: omni.videoencoding-0.1.2] startup +[5.549s] [ext: omni.warp-1.8.2] startup +[5.561s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.578s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.582s] [ext: isaacsim.core.prims-0.6.1] startup +[5.619s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.637s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:47:38Z [5,845ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:47:38Z [5,846ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:47:38Z [5,848ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.884s] [ext: isaacsim.core.api-4.8.0] startup +[5.962s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[6.045s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.067s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.076s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.085s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.107s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.120s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.141s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.160s] [ext: omni.sensors.net-1.0.0] startup +[6.172s] [ext: isaacsim.app.about-2.0.11] startup +[6.179s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.180s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.194s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.206s] [ext: omni.kit.property.audio-1.0.16] startup +[6.214s] [ext: omni.kit.property.camera-1.0.10] startup +[6.221s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.239s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.254s] [ext: omni.kit.property.light-1.0.12] startup +[6.358s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.361s] [ext: omni.kit.selection-0.1.6] startup +[6.363s] [ext: omni.kit.property.material-1.11.9] startup +[6.387s] [ext: omni.kit.property.transform-1.5.13] startup +[6.396s] [ext: omni.kit.property.render-1.2.1] startup +[6.408s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.437s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.459s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.474s] [ext: isaacsim.gui.property-1.1.3] startup +[6.487s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.502s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.524s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.550s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[6.582s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[6.607s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[6.624s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[6.645s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[6.661s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[6.681s] [ext: omni.kit.window.console-1.1.4] startup +[6.694s] [ext: omni.rtx.window.settings-0.6.19] startup +[6.708s] [ext: omni.ocio-0.1.1] startup +[6.711s] [ext: omni.physx.demos-107.3.26] startup +[6.792s] [ext: omni.kit.property.physx-107.3.26] startup +[6.828s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[6.861s] [ext: omni.asset_validator.core-1.1.6] startup +[6.949s] [ext: omni.rtx.settings.core-0.6.5] startup +[6.960s] [ext: omni.physx.vehicle-107.3.26] startup +[7.034s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.229s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.382s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.617s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.763s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.787s] [ext: omni.physx.camera-107.3.26] startup +[7.838s] [ext: omni.anim.curve.core-1.3.1] startup +[7.894s] [ext: omni.physx.cct-107.3.26] startup +[7.943s] [ext: omni.physx.graph-107.3.26] startup +[8.004s] [ext: omni.physx.supportui-107.3.26] startup +[8.046s] [ext: omni.physx.telemetry-107.3.26] startup +[8.061s] [ext: isaaclab-0.54.3] startup +[8.404s] [ext: isaaclab_contrib-0.0.2] startup +[8.406s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.410s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.415s] [ext: semantics.schema.property-2.0.1] startup +[8.419s] [ext: omni.physx.bundle-107.3.26] startup +[8.422s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.428s] [ext: isaaclab_assets-0.2.4] startup +[8.738s] [ext: isaaclab_tasks-0.11.14] startup +[8.907s] [ext: omni.kit.menu.common-2.0.1] startup +[8.909s] [ext: isaaclab_rl-0.5.0] startup +[8.913s] [ext: isaaclab_mimic-1.0.16] startup +[8.915s] [ext: isaaclab.python-2.3.2] startup +[8.920s] Simulation App Starting +2026-07-23T23:47:41Z [8,970ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:47:41Z [8,975ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:47:41Z [8,975ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:47:41Z [8,975ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:47:41Z [9,005ms] [Warning] [omni.fabric.plugin] Warning: attribute viewPickingId not found for bucket id 9 + +[9.063s] app ready +2026-07-23T23:47:42Z [10,163ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:47:42Z [10,164ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:47:42Z [10,164ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:47:42Z [10,164ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.695s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=48 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=48 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-48-04.log +====================================================================================== + +07:48:04 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 48 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:48:05Z [32,609ms] [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 +2026-07-23T23:48:05Z [32,710ms] [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. +2026-07-23T23:48:05Z [32,726ms] [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. +2026-07-23T23:48:05Z [32,738ms] [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 : 0.420284 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:48:05Z [32,752ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +2026-07-23T23:48:05Z [32,758ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +2026-07-23T23:48:05Z [33,224ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +2026-07-23T23:48:05Z [33,225ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +2026-07-23T23:48:05Z [33,228ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +2026-07-23T23:48:05Z [33,228ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +2026-07-23T23:48:05Z [33,228ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +2026-07-23T23:48:05Z [33,228ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x56280d7ee3f0:World0.usd@ <0x56280d7ef3f0>) + +[INFO]: Time taken for simulation start : 0.712005 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:48:13Z [41,471ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:48:14Z [41,883ms] [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 +2026-07-23T23:48:14Z [41,883ms] [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 +2026-07-23T23:48:14Z [41,883ms] [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 +2026-07-23T23:48:14Z [41,883ms] [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 +2026-07-23T23:48:25Z [52,972ms] [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=48 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07088500261306763, -0.17461100220680237, 0.7724999785423279], 'quat': [-0.5549759864807129, -9.999999974752427e-07, 9.999999974752427e-07, 0.8318660259246826]}, 't1': {'center': [0.0791739970445633, -0.1813029944896698, 0.7724999785423279], 'quat': [0.768127977848053, -1.9999999949504854e-06, 1.9999999949504854e-06, -0.6402959823608398]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07090000063180923, -0.1746000051498413, 0.7724999785423279] pick_tcp=[-0.0746999979019165, -0.18379999697208405, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0081 tracking_error=0.0329 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.06319999694824219, -0.17739999294281006, 0.7724999785423279] target=[-0.1907999962568283, -0.16930000483989716, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=left_stage waypoints=15 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1383 tracking_error=0.0180 gripper_position=0.1588 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19939999282360077, -0.1534000039100647, 0.7727000117301941] lifted=0.0002 ee_to_object_pos=[0.15189999341964722, -9.999999747378752e-05, 0.016300000250339508] +[collect][auto_swap_T] right_pick label=t1 center=[0.07919999957084656, -0.18129999935626984, 0.7724999785423279] pick_tcp=[0.08100000023841858, -0.19110000133514404, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0000 tracking_error=0.0250 gripper_position=0.7826 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.07919999957084656, -0.18129999935626984, 0.7724999785423279] target=[0.19910000264644623, -0.186599999666214, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=right_stage waypoints=15 +[collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1206 tracking_error=0.0188 gripper_position=0.1600 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.19900000095367432, -0.16779999434947968, 0.7724999785423279] lifted=0.0000 ee_to_object_pos=[0.15209999680519104, -9.999999747378752e-05, 0.019700000062584877] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=63.18 +[collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect][auto_swap_T] left_rotate step=20 xy=0.0010 z=0.0000 yaw_deg=29.95 +[collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect][auto_swap_T] left_rotate step=37 xy=0.0012 z=0.0000 yaw_deg=0.25 +[collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect][auto_swap_T] left_rotate step=40 xy=0.0002 z=0.0000 yaw_deg=-0.05 +[collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect][auto_swap_T] left_align step=60 xy=0.2011 z=0.0001 yaw_deg=-0.02 +[collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect][auto_swap_T] left_align step=80 xy=0.1155 z=0.0001 yaw_deg=-0.01 +[collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect][auto_swap_T] left_align step=100 xy=0.0303 z=0.0002 yaw_deg=-0.03 +[collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect][auto_swap_T] left_align step=112 xy=0.0022 z=0.0005 yaw_deg=0.15 +[collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect][auto_swap_T] left_release step=117 xy=0.0003 z=0.0002 yaw_deg=0.03 +[collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect][auto_swap_T] left_release step=120 xy=0.0002 z=0.0001 yaw_deg=0.11 +[collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect][auto_swap_T] left_feedback released center=[0.07890000194311142, -0.18150000274181366, 0.7724999785423279] quat=[0.767300009727478, -0.0, 0.0, -0.6412000060081482] +[collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.21209999918937683, -0.16329999268054962, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.15240000188350677, -0.00019999999494757503, 0.020099999383091927] +[collect][auto_swap_T] right_detour obstacle=[0.07919999957084656, -0.18129999935626984, 0.7724999785423279] waypoint=[0.08699999749660492, -0.006300000008195639, 0.792900025844574] clearance=0.1752 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07090000063180923, -0.1746000051498413, 0.7724999785423279] waypoints=72 +[collect][auto_swap_T] phase=right_place waypoints=72 +[collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.40 +[collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0010 z=0.0040 yaw_deg=0.01 +[collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0004 yaw_deg=-0.01 +[collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect] demo=0 step=350/700 +env0 step: 350 / 700 [collect] demo=0 step=351/700 +env0 step: 351 / 700 [collect] demo=0 step=352/700 +env0 step: 352 / 700 [collect] demo=0 step=353/700 +env0 step: 353 / 700 [collect] demo=0 step=354/700 +env0 step: 354 / 700 [collect] demo=0 step=355/700 +env0 step: 355 / 700 [collect] demo=0 step=356/700 +env0 step: 356 / 700 [collect] demo=0 step=357/700 +env0 step: 357 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0006 z=0.0040 yaw_deg=-0.03 +[collect] demo=0 step=358/700 +env0 step: 358 / 700 [collect] demo=0 step=359/700 +env0 step: 359 / 700 [collect] demo=0 step=360/700 +env0 step: 360 / 700 [collect] demo=0 step=361/700 +env0 step: 361 / 700 [collect] demo=0 step=362/700 +env0 step: 362 / 700 [collect][auto_swap_T] right_feedback released center=[-0.07109999656677246, -0.17520000040531158, 0.7724999785423279] quat=[-0.5551999807357788, 0.0, -0.0, 0.8317000269889832] +[collect] demo=0 step=363/700 +env0 step: 363 / 700 [collect] demo=0 step=364/700 +env0 step: 364 / 700 [collect] demo=0 step=365/700 +env0 step: 365 / 700 [collect] demo=0 step=366/700 +env0 step: 366 / 700 [collect] demo=0 step=367/700 +env0 step: 367 / 700 [collect] demo=0 step=368/700 +env0 step: 368 / 700 [collect] demo=0 step=369/700 +env0 step: 369 / 700 [collect] demo=0 step=370/700 +env0 step: 370 / 700 [collect] demo=0 step=371/700 +env0 step: 371 / 700 [collect] demo=0 step=372/700 +env0 step: 372 / 700 [collect] demo=0 step=373/700 +env0 step: 373 / 700 [collect] demo=0 step=374/700 +env0 step: 374 / 700 [collect] demo=0 step=375/700 +env0 step: 375 / 700 [collect] demo=0 step=376/700 +env0 step: 376 / 700 [collect] demo=0 step=377/700 +env0 step: 377 / 700 [collect] demo=0 step=378/700 +env0 step: 378 / 700 [collect] demo=0 step=379/700 +env0 step: 379 / 700 [collect] demo=0 step=380/700 +env0 step: 380 / 700 [collect] demo=0 step=381/700 +env0 step: 381 / 700 [collect] demo=0 step=382/700 +env0 step: 382 / 700 [collect] demo=0 step=383/700 +env0 step: 383 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.078868, -0.181541, 0.7725], 'quat': [0.767348, -1e-06, 1e-06, -0.641231]}, 't1': {'pos': [-0.071126, -0.175152, 0.7725], 'quat': [-0.555191, 1e-06, -1e-06, 0.831723]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed48_diag700.hdf5 +2026-07-23T23:50:14Z [161,574ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:50:14Z [161,574ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[161.971s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed49_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed49_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..7e9f8a5d60d73ea0ae15b82b47df65ebc364ae38 --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed49_diag700.log @@ -0,0 +1,859 @@ +[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_075504.log +[0.062s] [ext: omni.kit.async_engine-0.0.3] startup +[0.203s] [ext: omni.metrics.core-0.0.3] startup +[0.204s] [ext: omni.client.lib-1.1.0] startup +[0.219s] [ext: omni.blobkey-1.1.2] startup +[0.219s] [ext: omni.stats-1.0.1] startup +[0.220s] [ext: omni.datastore-0.0.0] startup +[0.226s] [ext: omni.client-1.3.0] startup +[0.231s] [ext: omni.ujitso.default-1.0.0] startup +[0.233s] [ext: omni.hsscclient-1.1.2] startup +[0.254s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.256s] [ext: omni.assets.plugins-0.0.0] startup +[0.257s] [ext: omni.gpu_foundation-0.0.0] startup +[0.265s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:55:04Z [239ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:55:04Z [239ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.266s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:55:04Z [330ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:55:04Z [331ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:55:04Z [331ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:55:04Z [331ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:55:04Z [398ms] [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. +2026-07-23T23:55:05Z [1,113ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:55:05Z [1,113ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:55:05Z [1,115ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:55:05Z [1,115ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:55:05Z [1,120ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:55:05Z [1,120ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:55:05Z [1,120ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:55:05Z [1,120ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:55:05Z [1,120ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:55:05Z [1,120ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:55:05Z [1,121ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:55:05Z [1,121ms] [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: 23876 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[1.955s] [ext: omni.materialx.libs-1.0.7] startup +[1.964s] [ext: omni.kit.loop-isaac-1.3.7] startup +[1.965s] [ext: omni.kit.test-2.0.1] startup +[2.009s] [ext: omni.kit.pipapi-0.0.0] startup +[2.009s] [ext: omni.usd.config-1.0.6] startup +[2.013s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.013s] [ext: omni.usd.libs-1.0.1] startup +[2.125s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.125s] [ext: omni.mdl-56.0.3] startup +[2.147s] [ext: omni.iray.libs-0.0.0] startup +[2.155s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.157s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.260s] [ext: omni.kit.telemetry-0.5.2] startup +[2.320s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:55:06Z [2,296ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:55:06Z [2,296ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.327s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:55:06Z [2,322ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:55:06Z [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) +2026-07-23T23:55:06Z [2,336ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:55:06Z [2,336ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.364s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.369s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:55:06Z [2,349ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:55:06Z [2,349ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:55:06Z [2,351ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:55:06Z [2,351ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:55:06Z [2,353ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:55:06Z [2,353ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.497s] [ext: omni.ui-2.27.1] startup +[2.509s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.511s] [ext: carb.audio-0.1.0] startup +[2.541s] [ext: omni.uiaudio-1.0.0] startup +[2.542s] [ext: omni.kit.uiapp-0.0.0] startup +[2.542s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.545s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.552s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.555s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.559s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.562s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.586s] [ext: omni.usd_resolver-1.0.0] startup +[2.591s] [ext: omni.usd.core-1.5.3] startup +[2.594s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.618s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.627s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.662s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.663s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.663s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.669s] [ext: omni.graph.exec-0.9.6] startup +[2.669s] [ext: omni.kit.actions.core-1.0.0] startup +[2.671s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.672s] [ext: omni.kit.exec.core-0.13.4] startup +[2.673s] [ext: omni.kit.commands-1.4.10] startup +[2.677s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.681s] [ext: omni.activity.core-1.0.3] startup +[2.683s] [ext: omni.resourcemonitor-107.0.1] startup +[2.685s] [ext: omni.timeline-1.0.14] startup +[2.686s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.688s] [ext: usdrt.scenegraph-7.6.1] startup +[2.729s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.730s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.739s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.745s] [ext: omni.usd-1.13.10] startup +[2.773s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.786s] [ext: omni.index.libs-380600.8087.0] startup +[2.786s] [ext: omni.volume-0.5.2] startup +[2.789s] [ext: omni.ujitso.client-0.0.0] startup +[2.789s] [ext: omni.index-1.0.1] startup +[2.790s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.791s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:55:07Z [2,786ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.831s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.833s] [ext: omni.kit.clipboard-1.0.5] startup +[2.834s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.837s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.844s] [ext: omni.kit.menu.core-1.1.2] startup +[2.844s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.847s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.849s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.849s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.850s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.851s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.855s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.856s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.864s] [ext: omni.ui.scene-1.11.5] startup +[2.869s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.869s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.884s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.891s] [ext: omni.kit.context_menu-1.8.6] startup +[2.893s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.899s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.903s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.905s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.906s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.906s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.910s] [ext: omni.kit.material.library-2.0.7] startup +[2.915s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.918s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.920s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.936s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.940s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.945s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.946s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.950s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[2.954s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[2.955s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[2.957s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[2.958s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[2.959s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[2.960s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[2.966s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[2.970s] [ext: omni.kit.widget.filter-1.1.4] startup +[2.970s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[2.972s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[2.973s] [ext: omni.fabric.commands-1.1.6] startup +[2.976s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[2.977s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[2.978s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[2.979s] [ext: omni.debugdraw-0.1.4] startup +[2.983s] [ext: omni.kit.widget.stage-3.1.4] startup +[2.994s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[2.995s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[2.995s] [ext: omni.kvdb-107.3.26] startup +[2.997s] [ext: omni.convexdecomposition-107.3.26] startup +[3.000s] [ext: omni.physx.foundation-107.3.26] startup +[3.002s] [ext: omni.localcache-107.3.26] startup +[3.003s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.004s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.005s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.005s] [ext: omni.usdphysics-107.3.26] startup +[3.008s] [ext: omni.kit.window.file-2.0.5] startup +[3.011s] [ext: omni.physx.cooking-107.3.26] startup +[3.014s] [ext: omni.physics-107.3.26] startup +[3.017s] [ext: omni.kit.window.property-1.12.1] startup +[3.020s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.031s] [ext: omni.physx-107.3.26] startup +[3.042s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.044s] [ext: omni.kit.property.usd-4.5.12] startup +[3.054s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.056s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:55:07Z [3,031ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.058s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.059s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.071s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.076s] [ext: omni.inspect-1.0.2] startup +[3.077s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.088s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.090s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.096s] [ext: omni.graph.core-2.184.5] startup +[3.099s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.101s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.128s] [ext: omni.physx.commands-107.3.26] startup +[3.132s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.133s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:55:07Z [3,113ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.140s] [ext: omni.physx.ui-107.3.26] startup +[3.172s] [ext: isaacsim.core.version-2.0.6] startup +[3.173s] [ext: omni.physics.tensors-107.3.26] startup +[3.178s] [ext: omni.warp.core-1.8.2] startup +[3.377s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.380s] [ext: isaacsim.storage.native-1.5.1] startup +[3.382s] [ext: omni.physx.tensors-107.3.26] startup +[3.392s] [ext: isaacsim.core.utils-3.5.1] startup +[3.396s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.812s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.814s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.816s] [ext: omni.kit.window.stage-2.6.1] startup +[4.826s] [ext: omni.kit.menu.create-2.0.1] startup +[4.827s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.834s] [ext: omni.kit.scripting-107.3.2] startup +[4.840s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.844s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.845s] [ext: omni.graph.tools-1.79.2] startup +[4.868s] [ext: omni.ui_query-1.1.8] startup +[4.869s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.869s] [ext: omni.graph-1.141.2] startup +[4.916s] [ext: omni.graph.action_core-1.1.7] startup +[4.918s] [ext: omni.kit.ui_test-1.3.7] startup +[4.924s] [ext: omni.kit.browser.core-2.3.13] startup +[4.928s] [ext: omni.kit.usd.collect-2.4.5] startup +[4.933s] [ext: omni.graph.action_nodes-1.50.4] startup +[4.939s] [ext: omni.kit.menu.stage-1.2.7] startup +[4.944s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[4.956s] [ext: omni.kit.usdz_export-1.0.9] startup +[4.965s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[4.983s] [ext: omni.graph.action-1.130.0] startup +[4.988s] [ext: omni.kit.tool.collect-2.2.18] startup +[4.991s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[4.998s] [ext: isaacsim.gui.components-1.2.1] startup +[5.004s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.017s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.153s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.166s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.175s] [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( +[5.307s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:55:09Z [5,290ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.318s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.321s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.328s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.333s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.338s] [ext: omni.graph.image.core-0.6.1] startup +[5.340s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.342s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.344s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.349s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.352s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.354s] [ext: omni.graph.nodes-1.170.10] startup +[5.366s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.372s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.379s] [ext: omni.syntheticdata-0.6.13] startup +[5.412s] [ext: omni.videoencoding-0.1.2] startup +[5.418s] [ext: omni.warp-1.8.2] startup +[5.427s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.448s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.453s] [ext: isaacsim.core.prims-0.6.1] startup +[5.504s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.510s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:55:09Z [5,745ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:55:09Z [5,745ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:55:09Z [5,749ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.784s] [ext: isaacsim.core.api-4.8.0] startup +[5.844s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.979s] [ext: isaacsim.core.nodes-3.4.3] startup +[6.041s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[6.064s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[6.087s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.123s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.154s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.181s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.207s] [ext: omni.sensors.net-1.0.0] startup +[6.224s] [ext: isaacsim.app.about-2.0.11] startup +[6.243s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.247s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.254s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.271s] [ext: omni.kit.property.audio-1.0.16] startup +[6.293s] [ext: omni.kit.property.camera-1.0.10] startup +[6.299s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.375s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.419s] [ext: omni.kit.property.light-1.0.12] startup +[6.466s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.473s] [ext: omni.kit.selection-0.1.6] startup +[6.482s] [ext: omni.kit.property.material-1.11.9] startup +[6.541s] [ext: omni.kit.property.transform-1.5.13] startup +[6.601s] [ext: omni.kit.property.render-1.2.1] startup +[6.637s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.671s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.911s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[7.052s] [ext: isaacsim.gui.property-1.1.3] startup +[7.159s] [ext: omni.kit.property.bundle-1.4.1] startup +[7.244s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[7.297s] [ext: isaacsim.sensors.physics-0.4.3] startup +[7.331s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.413s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.458s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.485s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.496s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.501s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.530s] [ext: omni.kit.window.console-1.1.4] startup +[7.545s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.561s] [ext: omni.ocio-0.1.1] startup +[7.569s] [ext: omni.physx.demos-107.3.26] startup +[7.622s] [ext: omni.kit.property.physx-107.3.26] startup +[7.673s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.705s] [ext: omni.asset_validator.core-1.1.6] startup +[7.813s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.822s] [ext: omni.physx.vehicle-107.3.26] startup +[7.851s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.867s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.873s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.881s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.895s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.903s] [ext: omni.physx.camera-107.3.26] startup +[7.916s] [ext: omni.anim.curve.core-1.3.1] startup +[7.934s] [ext: omni.physx.cct-107.3.26] startup +[7.958s] [ext: omni.physx.graph-107.3.26] startup +[7.978s] [ext: omni.physx.supportui-107.3.26] startup +[8.005s] [ext: omni.physx.telemetry-107.3.26] startup +[8.014s] [ext: isaaclab-0.54.3] startup +[8.411s] [ext: isaaclab_contrib-0.0.2] startup +[8.413s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.416s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.421s] [ext: semantics.schema.property-2.0.1] startup +[8.425s] [ext: omni.physx.bundle-107.3.26] startup +[8.429s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.434s] [ext: isaaclab_assets-0.2.4] startup +[8.735s] [ext: isaaclab_tasks-0.11.14] startup +[8.900s] [ext: omni.kit.menu.common-2.0.1] startup +[8.903s] [ext: isaaclab_rl-0.5.0] startup +[8.907s] [ext: isaaclab_mimic-1.0.16] startup +[8.907s] [ext: isaaclab.python-2.3.2] startup +[8.912s] Simulation App Starting +2026-07-23T23:55:13Z [8,985ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:55:13Z [8,989ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:55:13Z [8,989ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:55:13Z [8,989ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:55:13Z [9,020ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.078s] app ready +2026-07-23T23:55:14Z [9,934ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:55:14Z [9,934ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:55:14Z [9,934ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:55:14Z [9,934ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.537s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=49 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=49 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-55-36.log +====================================================================================== + +07:55:36 [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 : 49 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:55:36Z [32,422ms] [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 +2026-07-23T23:55:36Z [32,533ms] [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. +2026-07-23T23:55:36Z [32,550ms] [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. +2026-07-23T23:55:36Z [32,563ms] [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 : 0.470764 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:55:36Z [32,580ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +2026-07-23T23:55:36Z [32,588ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +2026-07-23T23:55:37Z [33,119ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +2026-07-23T23:55:37Z [33,120ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +2026-07-23T23:55:37Z [33,123ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +2026-07-23T23:55:37Z [33,123ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +2026-07-23T23:55:37Z [33,124ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +2026-07-23T23:55:37Z [33,124ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x564e3d975300:World0.usd@ <0x564e3d976300>) + +[INFO]: Time taken for simulation start : 0.792664 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:55:47Z [43,364ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:55:52Z [47,961ms] [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 +2026-07-23T23:55:52Z [47,961ms] [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 +2026-07-23T23:55:52Z [47,961ms] [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 +2026-07-23T23:55:52Z [47,961ms] [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 +2026-07-23T23:55:59Z [55,147ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) +[collect][auto_swap_T] reset demo=0 seed=49 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.04411099851131439, -0.19466200470924377, 0.7724999785423279], 'quat': [-0.3177869915962219, -9.999999974752427e-07, 9.999999974752427e-07, 0.9481620192527771]}, 't1': {'center': [0.08086100220680237, -0.18491899967193604, 0.7724999785423279], 'quat': [0.515608012676239, 9.999999974752427e-07, 9.999999974752427e-07, 0.8568239808082581]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.04410000145435333, -0.19470000267028809, 0.7724999785423279] pick_tcp=[-0.05209999904036522, -0.20069999992847443, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0074 tracking_error=0.0234 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.04619999974966049, -0.20170000195503235, 0.7734000086784363] target=[-0.16369999945163727, -0.20399999618530273, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=left_stage waypoints=14 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1192 tracking_error=0.0088 gripper_position=0.1593 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.16519999504089355, -0.19529999792575836, 0.7735000252723694] lifted=0.0010 ee_to_object_pos=[0.15109999477863312, -9.999999747378752e-05, 0.01489999983459711] +[collect][auto_swap_T] right_pick label=t1 center=[0.08089999854564667, -0.18490000069141388, 0.7724999785423279] pick_tcp=[0.07620000094175339, -0.1761000007390976, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0014 tracking_error=0.0236 gripper_position=0.8000 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.08229999989271164, -0.18469999730587006, 0.7724999785423279] target=[0.2004999965429306, -0.17560000717639923, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1214 tracking_error=0.0246 gripper_position=0.1613 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.19900000095367432, -0.15109999477863312, 0.7728000283241272] lifted=0.0003 ee_to_object_pos=[0.15160000324249268, -9.999999747378752e-05, 0.007899999618530273] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=68.82 +[collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect][auto_swap_T] left_rotate step=20 xy=0.0009 z=0.0000 yaw_deg=-35.98 +[collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect][auto_swap_T] left_rotate step=40 xy=0.0010 z=0.0001 yaw_deg=-1.23 +[collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect][auto_swap_T] left_rotate step=41 xy=0.0007 z=0.0001 yaw_deg=-0.18 +[collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect][auto_swap_T] left_align step=60 xy=0.1861 z=0.0002 yaw_deg=-0.02 +[collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect][auto_swap_T] left_align step=80 xy=0.1007 z=0.0002 yaw_deg=0.01 +[collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect][auto_swap_T] left_align step=100 xy=0.0159 z=0.0003 yaw_deg=-0.02 +[collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect][auto_swap_T] left_align step=113 xy=0.0037 z=0.0001 yaw_deg=-0.31 +[collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect][auto_swap_T] left_release step=118 xy=0.0025 z=0.0008 yaw_deg=-0.19 +[collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect][auto_swap_T] left_release step=120 xy=0.0017 z=0.0009 yaw_deg=-0.49 +[collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect][auto_swap_T] left_feedback released center=[0.0828000009059906, -0.1834000051021576, 0.7724999785423279] quat=[0.5081999897956848, 0.0, 0.0, 0.8611999750137329] +[collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.20909999310970306, -0.15039999783039093, 0.7728999853134155] lifted=0.0004 ee_to_object_pos=[0.15109999477863312, -0.00019999999494757503, 0.007899999618530273] +[collect][auto_swap_T] right_detour obstacle=[0.08089999854564667, -0.18490000069141388, 0.7724999785423279] waypoint=[0.06750000268220901, -0.013899999670684338, 0.792900025844574] clearance=0.1715 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.04410000145435333, -0.19470000267028809, 0.7724999785423279] waypoints=65 +[collect][auto_swap_T] phase=right_place waypoints=65 +[collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.11 +[collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0005 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0003 yaw_deg=-0.02 +[collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect] demo=0 step=350/700 +env0 step: 350 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0003 z=0.0040 yaw_deg=-0.06 +[collect] demo=0 step=351/700 +env0 step: 351 / 700 [collect] demo=0 step=352/700 +env0 step: 352 / 700 [collect] demo=0 step=353/700 +env0 step: 353 / 700 [collect] demo=0 step=354/700 +env0 step: 354 / 700 [collect] demo=0 step=355/700 +env0 step: 355 / 700 [collect][auto_swap_T] right_feedback released center=[-0.04410000145435333, -0.1949000060558319, 0.7724999785423279] quat=[-0.3183000087738037, 0.0, -0.0, 0.9480000138282776] +[collect] demo=0 step=356/700 +env0 step: 356 / 700 [collect] demo=0 step=357/700 +env0 step: 357 / 700 [collect] demo=0 step=358/700 +env0 step: 358 / 700 [collect] demo=0 step=359/700 +env0 step: 359 / 700 [collect] demo=0 step=360/700 +env0 step: 360 / 700 [collect] demo=0 step=361/700 +env0 step: 361 / 700 [collect] demo=0 step=362/700 +env0 step: 362 / 700 [collect] demo=0 step=363/700 +env0 step: 363 / 700 [collect] demo=0 step=364/700 +env0 step: 364 / 700 [collect] demo=0 step=365/700 +env0 step: 365 / 700 [collect] demo=0 step=366/700 +env0 step: 366 / 700 [collect] demo=0 step=367/700 +env0 step: 367 / 700 [collect] demo=0 step=368/700 +env0 step: 368 / 700 [collect] demo=0 step=369/700 +env0 step: 369 / 700 [collect] demo=0 step=370/700 +env0 step: 370 / 700 [collect] demo=0 step=371/700 +env0 step: 371 / 700 [collect] demo=0 step=372/700 +env0 step: 372 / 700 [collect] demo=0 step=373/700 +env0 step: 373 / 700 [collect] demo=0 step=374/700 +env0 step: 374 / 700 [collect] demo=0 step=375/700 +env0 step: 375 / 700 [collect] demo=0 step=376/700 +env0 step: 376 / 700 [collect] demo=0 step=377/700 +env0 step: 377 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.082802, -0.183403, 0.7725], 'quat': [0.508196, 0.0, 0.0, 0.861241]}, 't1': {'pos': [-0.044075, -0.194929, 0.7725], 'quat': [-0.318305, 1e-06, -1e-06, 0.947988]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed49_diag700.hdf5 +2026-07-23T23:58:01Z [177,545ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:58:01Z [177,545ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[177.969s] Simulation App Shutting Down diff --git a/yzr/swap_T/logs/swap_T_stagegatev23_seed50_diag700.log b/yzr/swap_T/logs/swap_T_stagegatev23_seed50_diag700.log new file mode 100644 index 0000000000000000000000000000000000000000..fac7fef95bed9063d886e1152d12603752b3dedf --- /dev/null +++ b/yzr/swap_T/logs/swap_T_stagegatev23_seed50_diag700.log @@ -0,0 +1,830 @@ +[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_075147.log +[0.062s] [ext: omni.kit.async_engine-0.0.3] startup +[0.220s] [ext: omni.metrics.core-0.0.3] startup +[0.222s] [ext: omni.client.lib-1.1.0] startup +[0.240s] [ext: omni.blobkey-1.1.2] startup +[0.241s] [ext: omni.stats-1.0.1] startup +[0.241s] [ext: omni.datastore-0.0.0] startup +[0.248s] [ext: omni.client-1.3.0] startup +[0.254s] [ext: omni.ujitso.default-1.0.0] startup +[0.256s] [ext: omni.hsscclient-1.1.2] startup +[0.293s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup +[0.295s] [ext: omni.assets.plugins-0.0.0] startup +[0.296s] [ext: omni.gpu_foundation-0.0.0] startup +[0.304s] [ext: carb.windowing.plugins-1.0.0] startup +2026-07-23T23:51:48Z [279ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:51:48Z [279ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[0.305s] [ext: omni.kit.renderer.init-0.0.0] startup +2026-07-23T23:51:48Z [398ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. +2026-07-23T23:51:48Z [399ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set. +2026-07-23T23:51:48Z [399ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different. +2026-07-23T23:51:48Z [399ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes. +2026-07-23T23:51:48Z [462ms] [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. +2026-07-23T23:51:48Z [1,110ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:51:48Z [1,110ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:51:48Z [1,112ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:51:48Z [1,112ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:51:48Z [1,113ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:51:48Z [1,113ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:51:48Z [1,113ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:51:48Z [1,113ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:51:48Z [1,113ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:51:48Z [1,113ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system. +2026-07-23T23:51:48Z [1,113ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA GeForce RTX 5090 +2026-07-23T23:51:48Z [1,113ms] [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: 17175 +| Total Page/Swap (MB): 0 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +[2.005s] [ext: omni.materialx.libs-1.0.7] startup +[2.015s] [ext: omni.kit.loop-isaac-1.3.7] startup +[2.016s] [ext: omni.kit.test-2.0.1] startup +[2.060s] [ext: omni.kit.pipapi-0.0.0] startup +[2.061s] [ext: omni.usd.config-1.0.6] startup +[2.064s] [ext: omni.gpucompute.plugins-0.0.0] startup +[2.064s] [ext: omni.usd.libs-1.0.1] startup +[2.173s] [ext: omni.kit.pip_archive-0.0.0] startup +[2.173s] [ext: omni.mdl-56.0.3] startup +[2.196s] [ext: omni.iray.libs-0.0.0] startup +[2.202s] [ext: omni.mdl.neuraylib-0.2.12] startup +[2.204s] [ext: omni.kit.usd.mdl-1.1.5] startup +[2.310s] [ext: omni.kit.telemetry-0.5.2] startup +[2.368s] [ext: omni.appwindow-1.1.10] startup +2026-07-23T23:51:50Z [2,344ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:51:50Z [2,344ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.373s] [ext: omni.kit.renderer.core-1.1.0] startup +2026-07-23T23:51:50Z [2,369ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:51:50Z [2,369ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:51:50Z [2,381ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:51:50Z [2,381ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.409s] [ext: omni.kit.renderer.capture-0.0.0] startup +[2.411s] [ext: omni.kit.renderer.imgui-2.0.5] startup +2026-07-23T23:51:50Z [2,389ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:51:50Z [2,389ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:51:50Z [2,390ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:51:50Z [2,390ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +2026-07-23T23:51:50Z [2,392ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:51:50Z [2,392ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[2.508s] [ext: omni.ui-2.27.1] startup +[2.519s] [ext: omni.kit.mainwindow-1.0.3] startup +[2.520s] [ext: carb.audio-0.1.0] startup +[2.550s] [ext: omni.uiaudio-1.0.0] startup +[2.551s] [ext: omni.kit.uiapp-0.0.0] startup +[2.551s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup +[2.554s] [ext: omni.usd.schema.omnigraph-1.0.0] startup +[2.567s] [ext: omni.usd.schema.semantics-0.0.0] startup +[2.572s] [ext: omni.usd.schema.audio-0.0.0] startup +[2.578s] [ext: omni.usd.schema.geospatial-0.0.0] startup +[2.584s] [ext: omni.usd.schema.anim-0.0.0] startup +[2.619s] [ext: omni.usd_resolver-1.0.0] startup +[2.624s] [ext: omni.usd.core-1.5.3] startup +[2.627s] [ext: omni.usd.schema.omni_lens_distortion-0.0.0] startup +[2.651s] [ext: isaacsim.robot.schema-3.6.0] startup +[2.663s] [ext: omni.usd.schema.physx-107.3.26] startup +[2.702s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup +[2.703s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup +[2.703s] [ext: omni.usd.schema.omniscripting-1.0.0] startup +[2.709s] [ext: omni.graph.exec-0.9.6] startup +[2.709s] [ext: omni.kit.actions.core-1.0.0] startup +[2.712s] [ext: omni.kit.usd_undo-0.1.8] startup +[2.712s] [ext: omni.kit.exec.core-0.13.4] startup +[2.714s] [ext: omni.kit.commands-1.4.10] startup +[2.718s] [ext: omni.kit.window.popup_dialog-2.0.24] startup +[2.723s] [ext: omni.activity.core-1.0.3] startup +[2.726s] [ext: omni.resourcemonitor-107.0.1] startup +[2.728s] [ext: omni.timeline-1.0.14] startup +[2.729s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup +[2.732s] [ext: usdrt.scenegraph-7.6.1] startup +[2.775s] [ext: omni.kit.audiodeviceenum-1.0.2] startup +[2.776s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup +[2.784s] [ext: omni.hydra.scene_delegate-0.3.4] startup +[2.791s] [ext: omni.usd-1.13.10] startup +[2.818s] [ext: omni.kit.asset_converter-5.0.17] startup +[2.832s] [ext: omni.index.libs-380600.8087.0] startup +[2.832s] [ext: omni.volume-0.5.2] startup +[2.835s] [ext: omni.ujitso.client-0.0.0] startup +[2.835s] [ext: omni.index-1.0.1] startup +[2.836s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup +[2.837s] [ext: omni.hydra.rtx-1.0.0] startup +2026-07-23T23:51:50Z [2,833ms] [Warning] [omni.log] Source: omni.hydra was already registered. +[2.878s] [ext: omni.kit.notification_manager-1.0.10] startup +[2.880s] [ext: omni.kit.clipboard-1.0.5] startup +[2.881s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup +[2.884s] [ext: omni.kit.raycast.query-1.1.0] startup +[2.890s] [ext: omni.kit.menu.core-1.1.2] startup +[2.891s] [ext: omni.kit.widget.options_menu-1.1.6] startup +[2.894s] [ext: omni.kit.helper.file_utils-0.1.9] startup +[2.895s] [ext: omni.kit.widget.path_field-2.0.11] startup +[2.896s] [ext: omni.kit.widget.context_menu-1.2.5] startup +[2.897s] [ext: omni.kit.widget.options_button-1.0.3] startup +[2.898s] [ext: omni.kit.widget.filebrowser-2.12.3] startup +[2.902s] [ext: omni.kit.widget.browser_bar-2.0.10] startup +[2.903s] [ext: omni.kit.usd.layers-2.2.11] startup +[2.912s] [ext: omni.ui.scene-1.11.5] startup +[2.916s] [ext: omni.kit.viewport.registry-104.0.6] startup +[2.917s] [ext: omni.kit.window.filepicker-2.13.4] startup +[2.931s] [ext: omni.kit.menu.utils-2.0.5] startup +[2.938s] [ext: omni.kit.context_menu-1.8.6] startup +[2.940s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup +[2.945s] [ext: omni.kit.hydra_texture-1.4.6] startup +[2.950s] [ext: omni.kit.window.file_importer-1.1.18] startup +[2.952s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup +[2.953s] [ext: omni.kit.window.drop_support-1.0.5] startup +[2.953s] [ext: omni.kit.widget.viewport-107.1.3] startup +[2.958s] [ext: omni.kit.material.library-2.0.7] startup +[2.964s] [ext: omni.hydra.engine.stats-1.0.3] startup +[2.967s] [ext: omni.kit.widget.settings-1.2.6] startup +[2.969s] [ext: omni.kit.viewport.window-107.2.0] startup +[2.984s] [ext: omni.kit.window.preferences-1.8.0] startup +[2.989s] [ext: omni.kit.widget.toolbar-2.0.1] startup +[2.994s] [ext: omni.kit.viewport.utility-1.1.2] startup +[2.994s] [ext: omni.kit.manipulator.transform-107.0.0] startup +[2.998s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup +[3.002s] [ext: omni.kit.manipulator.selector-1.1.3] startup +[3.003s] [ext: omni.kit.property.adapter.core-1.0.2] startup +[3.005s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup +[3.006s] [ext: omni.kit.manipulator.viewport-107.0.1] startup +[3.007s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup +[3.009s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup +[3.015s] [ext: omni.kit.primitive.mesh-1.0.17] startup +[3.018s] [ext: omni.kit.widget.filter-1.1.4] startup +[3.018s] [ext: omni.kit.hotkeys.core-1.3.10] startup +[3.020s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup +[3.021s] [ext: omni.fabric.commands-1.1.6] startup +[3.024s] [ext: omni.kit.window.file_exporter-1.0.33] startup +[3.024s] [ext: omni.kit.widget.searchfield-1.1.8] startup +[3.025s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup +[3.027s] [ext: omni.debugdraw-0.1.4] startup +[3.031s] [ext: omni.kit.widget.stage-3.1.4] startup +[3.042s] [ext: omni.kit.property.adapter.usd-1.0.2] startup +[3.042s] [ext: omni.kit.manipulator.prim-107.0.0] startup +[3.043s] [ext: omni.kvdb-107.3.26] startup +[3.044s] [ext: omni.convexdecomposition-107.3.26] startup +[3.047s] [ext: omni.physx.foundation-107.3.26] startup +[3.049s] [ext: omni.localcache-107.3.26] startup +[3.051s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup +[3.051s] [ext: omni.kit.widget.highlight_label-1.0.3] startup +[3.052s] [ext: omni.kit.stage_template.core-1.1.22] startup +[3.052s] [ext: omni.usdphysics-107.3.26] startup +[3.055s] [ext: omni.kit.window.file-2.0.5] startup +[3.058s] [ext: omni.physx.cooking-107.3.26] startup +[3.061s] [ext: omni.physics-107.3.26] startup +[3.064s] [ext: omni.kit.window.property-1.12.1] startup +[3.067s] [ext: omni.kit.window.content_browser-3.1.3] startup +[3.078s] [ext: omni.physx-107.3.26] startup +[3.089s] [ext: omni.physics.stageupdate-107.3.26] startup +[3.091s] [ext: omni.kit.property.usd-4.5.12] startup +[3.101s] [ext: omni.kit.manipulator.selection-106.0.1] startup +[3.102s] [ext: omni.physics.physx-107.3.26] startup +2026-07-23T23:51:50Z [3,078ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +[3.105s] [ext: omni.kit.widget.prompt-1.0.7] startup +[3.105s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup +[3.118s] [ext: omni.kit.viewport.actions-107.0.2] startup +[3.122s] [ext: omni.inspect-1.0.2] startup +[3.124s] [ext: omni.kit.widget.layers-1.8.6] startup +[3.135s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup +[3.136s] [ext: omni.usd.metrics.assembler-107.3.1] startup +[3.196s] [ext: omni.graph.core-2.184.5] startup +[3.200s] [ext: omni.kit.numpy.common-0.1.3] startup +[3.201s] [ext: omni.usdphysics.ui-107.3.26] startup +[3.228s] [ext: omni.physx.commands-107.3.26] startup +[3.232s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup +[3.233s] [ext: omni.isaac.dynamic_control-2.0.7] startup +2026-07-23T23:51:51Z [3,213ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +[3.240s] [ext: omni.physx.ui-107.3.26] startup +[3.272s] [ext: isaacsim.core.version-2.0.6] startup +[3.273s] [ext: omni.physics.tensors-107.3.26] startup +[3.278s] [ext: omni.warp.core-1.8.2] startup +[3.474s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup +[3.476s] [ext: isaacsim.storage.native-1.5.1] startup +[3.478s] [ext: omni.physx.tensors-107.3.26] startup +[3.484s] [ext: isaacsim.core.utils-3.5.1] startup +[3.487s] [ext: isaacsim.core.simulation_manager-1.4.4] startup +[4.921s] [ext: omni.kit.widget.stage_icons-1.0.8] startup +[4.925s] [ext: omni.kit.widget.text_editor-1.1.1] startup +[4.928s] [ext: omni.kit.window.stage-2.6.1] startup +[4.936s] [ext: omni.kit.menu.create-2.0.1] startup +[4.938s] [ext: omni.kit.window.extensions-1.4.27] startup +[4.945s] [ext: omni.kit.scripting-107.3.2] startup +[4.951s] [ext: omni.kit.stagerecorder.core-107.0.3] startup +[4.955s] [ext: isaacsim.replicator.behavior-1.1.16] startup +[4.956s] [ext: omni.graph.tools-1.79.2] startup +[4.979s] [ext: omni.ui_query-1.1.8] startup +[4.980s] [ext: omni.kit.widget.zoombar-1.0.6] startup +[4.980s] [ext: omni.graph-1.141.2] startup +[5.028s] [ext: omni.graph.action_core-1.1.7] startup +[5.030s] [ext: omni.kit.ui_test-1.3.7] startup +[5.034s] [ext: omni.kit.browser.core-2.3.13] startup +[5.039s] [ext: omni.kit.usd.collect-2.4.5] startup +[5.044s] [ext: omni.graph.action_nodes-1.50.4] startup +[5.050s] [ext: omni.kit.menu.stage-1.2.7] startup +[5.055s] [ext: omni.kit.browser.folder.core-1.10.9] startup +[5.069s] [ext: omni.kit.usdz_export-1.0.9] startup +[5.078s] [ext: omni.graph.visualization.nodes-2.1.3] startup +[5.096s] [ext: omni.graph.action-1.130.0] startup +[5.100s] [ext: omni.kit.tool.collect-2.2.18] startup +[5.108s] [ext: omni.kit.tool.asset_importer-4.3.2] startup +[5.117s] [ext: isaacsim.gui.components-1.2.1] startup +[5.123s] [ext: isaacsim.examples.browser-0.2.1] startup +[5.139s] [ext: isaacsim.asset.importer.urdf-2.4.31] startup +[5.318s] [ext: isaacsim.core.cloner-1.4.10] startup +[5.325s] [ext: omni.kit.stagerecorder.ui-107.0.1] startup +[5.332s] [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( +[5.427s] [ext: semantics.schema.editor-2.0.2] startup +2026-07-23T23:51:53Z [5,408ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +[5.436s] [ext: omni.kit.stagerecorder.bundle-105.0.2] startup +[5.439s] [ext: omni.kit.window.status_bar-0.1.9] startup +[5.444s] [ext: omni.kit.widget.graph-2.0.0] startup +[5.452s] [ext: omni.kit.stage_templates-2.0.0] startup +[5.455s] [ext: omni.graph.image.core-0.6.1] startup +[5.458s] [ext: omni.kit.graph.delegate.default-1.2.3] startup +[5.459s] [ext: isaacsim.core.experimental.utils-0.3.0] startup +[5.461s] [ext: omni.graph.image.nodes-1.3.1] startup +[5.466s] [ext: omni.kit.graph.editor.core-1.5.3] startup +[5.468s] [ext: omni.kit.graph.usd.commands-1.3.1] startup +[5.471s] [ext: omni.graph.nodes-1.170.10] startup +[5.483s] [ext: omni.graph.ui_nodes-1.50.5] startup +[5.488s] [ext: omni.kit.widget.material_preview-1.0.16] startup +[5.494s] [ext: omni.syntheticdata-0.6.13] startup +[5.528s] [ext: omni.videoencoding-0.1.2] startup +[5.536s] [ext: omni.warp-1.8.2] startup +[5.542s] [ext: omni.kit.window.material_graph-1.9.1] startup +[5.563s] [ext: omni.graph.scriptnode-1.50.0] startup +[5.567s] [ext: isaacsim.core.prims-0.6.1] startup +[5.611s] [ext: isaacsim.test.docstring-1.1.0] startup +[5.627s] [ext: omni.replicator.core-1.12.27] startup +2026-07-23T23:51:53Z [5,788ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-07-23T23:51:53Z [5,788ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-07-23T23:51:53Z [5,791ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +[5.822s] [ext: isaacsim.core.api-4.8.0] startup +[5.893s] [ext: isaacsim.core.experimental.prims-0.8.1] startup +[5.957s] [ext: isaacsim.core.nodes-3.4.3] startup +[5.974s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup +[5.985s] [ext: isaacsim.util.debug_draw-3.1.0] startup +[5.995s] [ext: omni.sensors.nv.common-3.0.0] startup +[6.012s] [ext: isaacsim.robot.manipulators-3.3.6] startup +[6.021s] [ext: isaacsim.sensors.physx-2.3.2] startup +[6.037s] [ext: omni.sensors.nv.materials-2.0.0] startup +[6.047s] [ext: omni.sensors.net-1.0.0] startup +[6.055s] [ext: isaacsim.app.about-2.0.11] startup +[6.059s] [ext: isaacsim.simulation_app-2.12.2] startup +[6.060s] [ext: omni.sensors.nv.ids-2.0.0] startup +[6.068s] [ext: omni.sensors.nv.lidar-3.0.0] startup +[6.086s] [ext: omni.kit.property.audio-1.0.16] startup +[6.102s] [ext: omni.kit.property.camera-1.0.10] startup +[6.111s] [ext: omni.kit.property.geometry-2.0.4] startup +[6.127s] [ext: omni.hydra.scene_api-0.1.2] startup +[6.156s] [ext: omni.kit.property.light-1.0.12] startup +[6.209s] [ext: omni.sensors.nv.wpm-3.0.0] startup +[6.216s] [ext: omni.kit.selection-0.1.6] startup +[6.227s] [ext: omni.kit.property.material-1.11.9] startup +[6.311s] [ext: omni.kit.property.transform-1.5.13] startup +[6.336s] [ext: omni.kit.property.render-1.2.1] startup +[6.347s] [ext: omni.sensors.nv.radar-3.0.0] startup +[6.361s] [ext: isaacsim.gui.menu-2.4.4] startup +[6.425s] [ext: omni.kit.manipulator.camera-106.0.4] startup +[6.475s] [ext: isaacsim.gui.property-1.1.3] startup +[6.488s] [ext: omni.kit.property.bundle-1.4.1] startup +[6.525s] [ext: isaacsim.sensors.rtx-15.8.4] startup +[6.606s] [ext: isaacsim.sensors.physics-0.4.3] startup +[6.718s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup +[7.176s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup +[7.313s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup +[7.354s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup +[7.373s] [ext: isaacsim.robot.policy.examples-4.1.11] startup +[7.383s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup +[7.428s] [ext: omni.kit.window.console-1.1.4] startup +[7.456s] [ext: omni.rtx.window.settings-0.6.19] startup +[7.474s] [ext: omni.ocio-0.1.1] startup +[7.483s] [ext: omni.physx.demos-107.3.26] startup +[7.542s] [ext: omni.kit.property.physx-107.3.26] startup +[7.595s] [ext: omni.replicator.replicator_yaml-2.0.11] startup +[7.628s] [ext: omni.asset_validator.core-1.1.6] startup +[7.737s] [ext: omni.rtx.settings.core-0.6.5] startup +[7.746s] [ext: omni.physx.vehicle-107.3.26] startup +[7.776s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup +[7.793s] [ext: omni.kit.window.script_editor-2.0.1] startup +[7.799s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup +[7.809s] [ext: omni.physx.asset_validator-107.3.26] startup +[7.822s] [ext: omni.kit.window.toolbar-2.0.0] startup +[7.830s] [ext: omni.physx.camera-107.3.26] startup +[7.844s] [ext: omni.anim.curve.core-1.3.1] startup +[7.864s] [ext: omni.physx.cct-107.3.26] startup +[7.880s] [ext: omni.physx.graph-107.3.26] startup +[7.905s] [ext: omni.physx.supportui-107.3.26] startup +[7.932s] [ext: omni.physx.telemetry-107.3.26] startup +[7.938s] [ext: isaaclab-0.54.3] startup +[8.363s] [ext: isaaclab_contrib-0.0.2] startup +[8.365s] [ext: isaacsim.core.throttling-2.2.2] startup +[8.368s] [ext: omni.kit.ui.actions-1.0.5] startup +[8.375s] [ext: semantics.schema.property-2.0.1] startup +[8.379s] [ext: omni.physx.bundle-107.3.26] startup +[8.382s] [ext: isaacsim.sensors.camera-1.3.6] startup +[8.387s] [ext: isaaclab_assets-0.2.4] startup +[8.731s] [ext: isaaclab_tasks-0.11.14] startup +[8.898s] [ext: omni.kit.menu.common-2.0.1] startup +[8.900s] [ext: isaaclab_rl-0.5.0] startup +[8.903s] [ext: isaaclab_mimic-1.0.16] startup +[8.904s] [ext: isaaclab.python-2.3.2] startup +[8.908s] Simulation App Starting +2026-07-23T23:51:56Z [8,975ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it +2026-07-23T23:51:56Z [8,980ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc) +2026-07-23T23:51:56Z [8,980ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)} +2026-07-23T23:51:56Z [8,980ms] [Warning] [carb.audio.context] failed to set the requested output during context creation. Using a null streamer instead {result = eDeviceLost (2)} +2026-07-23T23:51:56Z [9,010ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9 + +[9.070s] app ready +2026-07-23T23:51:57Z [9,885ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions. +2026-07-23T23:51:57Z [9,886ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled. +2026-07-23T23:51:57Z [9,886ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context. +2026-07-23T23:51:57Z [9,886ms] [Warning] [carb.scenerenderer-rtx.plugin] Failed to create NGX context. +[13.459s] Simulation App Startup Complete +[collect] main entered +[collect] building env cfg +[collect] creating eval env +[collect] eval env ready +[collect] diagnostic env.step_lim override 400 -> 700; official task source is unchanged +[collect] eval_layout_seed=0 episode_seed_base=50 seed_count=1 +[collect] action_source=auto_swap_T random_scale=0.01 random_gripper_scale=0.0 +[collect] termination_mode=task max_steps=700 task_step_lim=400 min_steps=0 +[collect] reset demo=0 seed=50 +[INFO]: Parsing configuration from: env.environment.isaac.isaac_rl_env:IsaacRLEnvCfg + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-07-24_07-52-17.log +====================================================================================== + +07:52:17 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates. +[INFO]: Base environment: + Environment device : cpu + Environment seed : 50 + Physics step-size : 0.004 + Rendering step-size : 0.04 + Environment step-size : 0.004 +2026-07-23T23:52:18Z [30,344ms] [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 +2026-07-23T23:52:18Z [30,452ms] [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. +2026-07-23T23:52:18Z [30,470ms] [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. +2026-07-23T23:52:18Z [30,482ms] [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 : 0.480854 seconds +[INFO]: Scene manager: + Number of environments: 1 + Environment spacing : 7 + Source prim name : /World/envs/env_0 + Global prim paths : [] + Replicate physics : False +[INFO]: Starting the simulation. This may take a few seconds. Please wait... +2026-07-23T23:52:18Z [30,500ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +2026-07-23T23:52:18Z [30,507ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +2026-07-23T23:52:18Z [31,003ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +2026-07-23T23:52:18Z [31,004ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +2026-07-23T23:52:18Z [31,006ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +2026-07-23T23:52:18Z [31,007ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +2026-07-23T23:52:18Z [31,007ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +2026-07-23T23:52:18Z [31,007ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In : The relationship target from in layer @/root/autodl-tmp/robodojo_curobo_swap_T/Assets/Robots/x5/ARX.usd@ refers to a path outside the scope of the reference from . Ignoring. (getting targets for relationship on stage @anon:0x5591fcf90e60:World0.usd@ <0x5591fcf91e60>) + +[INFO]: Time taken for simulation start : 0.750928 seconds +[INFO]: Completed setting up the environment... +[INFO] Resetting all environments +2026-07-23T23:52:29Z [41,173ms] [Warning] [omni.fabric.plugin] USD->Fabric: Unhandled array type string[] +2026-07-23T23:52:33Z [45,683ms] [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 +2026-07-23T23:52:33Z [45,683ms] [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 +2026-07-23T23:52:33Z [45,683ms] [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 +2026-07-23T23:52:33Z [45,683ms] [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 +2026-07-23T23:52:41Z [53,218ms] [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=50 +[collect][auto_swap_T] remembered_initial={'t0': {'center': [-0.07260099798440933, -0.1939460039138794, 0.7724999785423279], 'quat': [-0.3977949917316437, -0.0, 0.0, 0.9174739718437195]}, 't1': {'center': [0.05727099999785423, -0.1924930065870285, 0.7724999785423279], 'quat': [-0.33793899416923523, 0.0, 0.0, 0.9411680102348328]}} +[collect][auto_swap_T] left_pick label=t0 center=[-0.07259999960660934, -0.193900004029274, 0.7724999785423279] pick_tcp=[-0.07940000295639038, -0.2011999934911728, 0.7724999785423279] waypoints=39 +[collect] demo=0 step=1/700 +env0 step: 1 / 700 [collect] demo=0 step=2/700 +env0 step: 2 / 700 [collect] demo=0 step=3/700 +env0 step: 3 / 700 [collect] demo=0 step=4/700 +env0 step: 4 / 700 [collect] demo=0 step=5/700 +env0 step: 5 / 700 [collect] demo=0 step=6/700 +env0 step: 6 / 700 [collect] demo=0 step=7/700 +env0 step: 7 / 700 [collect] demo=0 step=8/700 +env0 step: 8 / 700 [collect] demo=0 step=9/700 +env0 step: 9 / 700 [collect] demo=0 step=10/700 +env0 step: 10 / 700 [collect] demo=0 step=11/700 +env0 step: 11 / 700 [collect] demo=0 step=12/700 +env0 step: 12 / 700 [collect] demo=0 step=13/700 +env0 step: 13 / 700 [collect] demo=0 step=14/700 +env0 step: 14 / 700 [collect] demo=0 step=15/700 +env0 step: 15 / 700 [collect] demo=0 step=16/700 +env0 step: 16 / 700 [collect] demo=0 step=17/700 +env0 step: 17 / 700 [collect] demo=0 step=18/700 +env0 step: 18 / 700 [collect] demo=0 step=19/700 +env0 step: 19 / 700 [collect] demo=0 step=20/700 +env0 step: 20 / 700 [collect] demo=0 step=21/700 +env0 step: 21 / 700 [collect] demo=0 step=22/700 +env0 step: 22 / 700 [collect] demo=0 step=23/700 +env0 step: 23 / 700 [collect] demo=0 step=24/700 +env0 step: 24 / 700 [collect] demo=0 step=25/700 +env0 step: 25 / 700 [collect] demo=0 step=26/700 +env0 step: 26 / 700 [collect] demo=0 step=27/700 +env0 step: 27 / 700 [collect] demo=0 step=28/700 +env0 step: 28 / 700 [collect] demo=0 step=29/700 +env0 step: 29 / 700 [collect] demo=0 step=30/700 +env0 step: 30 / 700 [collect] demo=0 step=31/700 +env0 step: 31 / 700 [collect] demo=0 step=32/700 +env0 step: 32 / 700 [collect] demo=0 step=33/700 +env0 step: 33 / 700 [collect] demo=0 step=34/700 +env0 step: 34 / 700 [collect] demo=0 step=35/700 +env0 step: 35 / 700 [collect] demo=0 step=36/700 +env0 step: 36 / 700 [collect] demo=0 step=37/700 +env0 step: 37 / 700 [collect] demo=0 step=38/700 +env0 step: 38 / 700 [collect] demo=0 step=39/700 +env0 step: 39 / 700 [collect][auto_swap_T] left_pickup_verify displacement=0.0062 tracking_error=0.0291 gripper_position=0.0000 secured=False +[collect][auto_swap_T] left_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] left_stage observed=[-0.06880000233650208, -0.1988999992609024, 0.7724999785423279] target=[-0.19259999692440033, -0.19529999792575836, 0.7724999785423279] waypoints=15 +[collect][auto_swap_T] phase=left_stage waypoints=15 +[collect] demo=0 step=40/700 +env0 step: 40 / 700 [collect] demo=0 step=41/700 +env0 step: 41 / 700 [collect] demo=0 step=42/700 +env0 step: 42 / 700 [collect] demo=0 step=43/700 +env0 step: 43 / 700 [collect] demo=0 step=44/700 +env0 step: 44 / 700 [collect] demo=0 step=45/700 +env0 step: 45 / 700 [collect] demo=0 step=46/700 +env0 step: 46 / 700 [collect] demo=0 step=47/700 +env0 step: 47 / 700 [collect] demo=0 step=48/700 +env0 step: 48 / 700 [collect] demo=0 step=49/700 +env0 step: 49 / 700 [collect] demo=0 step=50/700 +env0 step: 50 / 700 [collect] demo=0 step=51/700 +env0 step: 51 / 700 [collect] demo=0 step=52/700 +env0 step: 52 / 700 [collect] demo=0 step=53/700 +env0 step: 53 / 700 [collect] demo=0 step=54/700 +env0 step: 54 / 700 [collect][auto_swap_T] left_stage_verify displacement=0.1280 tracking_error=0.0128 gripper_position=0.1594 secured=True +[collect][auto_swap_T] captured_left_grasp object_center=[-0.19589999318122864, -0.18289999663829803, 0.7734000086784363] lifted=0.0009 ee_to_object_pos=[0.1518000066280365, -9.999999747378752e-05, 0.01769999973475933] +[collect][auto_swap_T] right_pick label=t1 center=[0.05730000138282776, -0.19249999523162842, 0.7724999785423279] pick_tcp=[0.04960000142455101, -0.1988999992609024, 0.7724999785423279] waypoints=39 +[collect][auto_swap_T] phase=right_pick waypoints=39 +[collect] demo=0 step=55/700 +env0 step: 55 / 700 [collect] demo=0 step=56/700 +env0 step: 56 / 700 [collect] demo=0 step=57/700 +env0 step: 57 / 700 [collect] demo=0 step=58/700 +env0 step: 58 / 700 [collect] demo=0 step=59/700 +env0 step: 59 / 700 [collect] demo=0 step=60/700 +env0 step: 60 / 700 [collect] demo=0 step=61/700 +env0 step: 61 / 700 [collect] demo=0 step=62/700 +env0 step: 62 / 700 [collect] demo=0 step=63/700 +env0 step: 63 / 700 [collect] demo=0 step=64/700 +env0 step: 64 / 700 [collect] demo=0 step=65/700 +env0 step: 65 / 700 [collect] demo=0 step=66/700 +env0 step: 66 / 700 [collect] demo=0 step=67/700 +env0 step: 67 / 700 [collect] demo=0 step=68/700 +env0 step: 68 / 700 [collect] demo=0 step=69/700 +env0 step: 69 / 700 [collect] demo=0 step=70/700 +env0 step: 70 / 700 [collect] demo=0 step=71/700 +env0 step: 71 / 700 [collect] demo=0 step=72/700 +env0 step: 72 / 700 [collect] demo=0 step=73/700 +env0 step: 73 / 700 [collect] demo=0 step=74/700 +env0 step: 74 / 700 [collect] demo=0 step=75/700 +env0 step: 75 / 700 [collect] demo=0 step=76/700 +env0 step: 76 / 700 [collect] demo=0 step=77/700 +env0 step: 77 / 700 [collect] demo=0 step=78/700 +env0 step: 78 / 700 [collect] demo=0 step=79/700 +env0 step: 79 / 700 [collect] demo=0 step=80/700 +env0 step: 80 / 700 [collect] demo=0 step=81/700 +env0 step: 81 / 700 [collect] demo=0 step=82/700 +env0 step: 82 / 700 [collect] demo=0 step=83/700 +env0 step: 83 / 700 [collect] demo=0 step=84/700 +env0 step: 84 / 700 [collect] demo=0 step=85/700 +env0 step: 85 / 700 [collect] demo=0 step=86/700 +env0 step: 86 / 700 [collect] demo=0 step=87/700 +env0 step: 87 / 700 [collect] demo=0 step=88/700 +env0 step: 88 / 700 [collect] demo=0 step=89/700 +env0 step: 89 / 700 [collect] demo=0 step=90/700 +env0 step: 90 / 700 [collect] demo=0 step=91/700 +env0 step: 91 / 700 [collect] demo=0 step=92/700 +env0 step: 92 / 700 [collect] demo=0 step=93/700 +env0 step: 93 / 700 [collect][auto_swap_T] right_pickup_verify displacement=0.0080 tracking_error=0.0190 gripper_position=0.2121 secured=False +[collect][auto_swap_T] right_pickup_probe_inconclusive defer_to_stage=True +[collect][auto_swap_T] right_stage observed=[0.06379999965429306, -0.18780000507831573, 0.7738999724388123] target=[0.17730000615119934, -0.19120000302791595, 0.7724999785423279] waypoints=14 +[collect][auto_swap_T] phase=right_stage waypoints=14 +[collect] demo=0 step=94/700 +env0 step: 94 / 700 [collect] demo=0 step=95/700 +env0 step: 95 / 700 [collect] demo=0 step=96/700 +env0 step: 96 / 700 [collect] demo=0 step=97/700 +env0 step: 97 / 700 [collect] demo=0 step=98/700 +env0 step: 98 / 700 [collect] demo=0 step=99/700 +env0 step: 99 / 700 [collect] demo=0 step=100/700 +env0 step: 100 / 700 [collect] demo=0 step=101/700 +env0 step: 101 / 700 [collect] demo=0 step=102/700 +env0 step: 102 / 700 [collect] demo=0 step=103/700 +env0 step: 103 / 700 [collect] demo=0 step=104/700 +env0 step: 104 / 700 [collect] demo=0 step=105/700 +env0 step: 105 / 700 [collect] demo=0 step=106/700 +env0 step: 106 / 700 [collect] demo=0 step=107/700 +env0 step: 107 / 700 [collect][auto_swap_T] right_stage_verify displacement=0.1159 tracking_error=0.0024 gripper_position=0.1685 secured=True +[collect][auto_swap_T] captured_right_grasp object_center=[0.17960000038146973, -0.19200000166893005, 0.7738000154495239] lifted=0.0013 ee_to_object_pos=[0.14959999918937683, 0.00039999998989515007, 0.008200000040233135] +[collect][auto_swap_T] left_feedback_order=rotate_first yaw_deg=22.93 +[collect] demo=0 step=108/700 +env0 step: 108 / 700 [collect] demo=0 step=109/700 +env0 step: 109 / 700 [collect] demo=0 step=110/700 +env0 step: 110 / 700 [collect] demo=0 step=111/700 +env0 step: 111 / 700 [collect] demo=0 step=112/700 +env0 step: 112 / 700 [collect] demo=0 step=113/700 +env0 step: 113 / 700 [collect] demo=0 step=114/700 +env0 step: 114 / 700 [collect] demo=0 step=115/700 +env0 step: 115 / 700 [collect] demo=0 step=116/700 +env0 step: 116 / 700 [collect] demo=0 step=117/700 +env0 step: 117 / 700 [collect] demo=0 step=118/700 +env0 step: 118 / 700 [collect] demo=0 step=119/700 +env0 step: 119 / 700 [collect] demo=0 step=120/700 +env0 step: 120 / 700 [collect][auto_swap_T] left_rotate step=14 xy=0.0010 z=0.0000 yaw_deg=0.24 +[collect] demo=0 step=121/700 +env0 step: 121 / 700 [collect] demo=0 step=122/700 +env0 step: 122 / 700 [collect] demo=0 step=123/700 +env0 step: 123 / 700 [collect] demo=0 step=124/700 +env0 step: 124 / 700 [collect][auto_swap_T] left_feedback translate +[collect] demo=0 step=125/700 +env0 step: 125 / 700 [collect] demo=0 step=126/700 +env0 step: 126 / 700 [collect][auto_swap_T] left_align step=20 xy=0.2492 z=0.0008 yaw_deg=-0.05 +[collect] demo=0 step=127/700 +env0 step: 127 / 700 [collect] demo=0 step=128/700 +env0 step: 128 / 700 [collect] demo=0 step=129/700 +env0 step: 129 / 700 [collect] demo=0 step=130/700 +env0 step: 130 / 700 [collect] demo=0 step=131/700 +env0 step: 131 / 700 [collect] demo=0 step=132/700 +env0 step: 132 / 700 [collect] demo=0 step=133/700 +env0 step: 133 / 700 [collect] demo=0 step=134/700 +env0 step: 134 / 700 [collect] demo=0 step=135/700 +env0 step: 135 / 700 [collect] demo=0 step=136/700 +env0 step: 136 / 700 [collect] demo=0 step=137/700 +env0 step: 137 / 700 [collect] demo=0 step=138/700 +env0 step: 138 / 700 [collect] demo=0 step=139/700 +env0 step: 139 / 700 [collect] demo=0 step=140/700 +env0 step: 140 / 700 [collect] demo=0 step=141/700 +env0 step: 141 / 700 [collect] demo=0 step=142/700 +env0 step: 142 / 700 [collect] demo=0 step=143/700 +env0 step: 143 / 700 [collect] demo=0 step=144/700 +env0 step: 144 / 700 [collect] demo=0 step=145/700 +env0 step: 145 / 700 [collect] demo=0 step=146/700 +env0 step: 146 / 700 [collect][auto_swap_T] left_align step=40 xy=0.1624 z=0.0002 yaw_deg=-0.00 +[collect] demo=0 step=147/700 +env0 step: 147 / 700 [collect] demo=0 step=148/700 +env0 step: 148 / 700 [collect] demo=0 step=149/700 +env0 step: 149 / 700 [collect] demo=0 step=150/700 +env0 step: 150 / 700 [collect] demo=0 step=151/700 +env0 step: 151 / 700 [collect] demo=0 step=152/700 +env0 step: 152 / 700 [collect] demo=0 step=153/700 +env0 step: 153 / 700 [collect] demo=0 step=154/700 +env0 step: 154 / 700 [collect] demo=0 step=155/700 +env0 step: 155 / 700 [collect] demo=0 step=156/700 +env0 step: 156 / 700 [collect] demo=0 step=157/700 +env0 step: 157 / 700 [collect] demo=0 step=158/700 +env0 step: 158 / 700 [collect] demo=0 step=159/700 +env0 step: 159 / 700 [collect] demo=0 step=160/700 +env0 step: 160 / 700 [collect] demo=0 step=161/700 +env0 step: 161 / 700 [collect] demo=0 step=162/700 +env0 step: 162 / 700 [collect] demo=0 step=163/700 +env0 step: 163 / 700 [collect] demo=0 step=164/700 +env0 step: 164 / 700 [collect] demo=0 step=165/700 +env0 step: 165 / 700 [collect] demo=0 step=166/700 +env0 step: 166 / 700 [collect][auto_swap_T] left_align step=60 xy=0.0761 z=0.0002 yaw_deg=0.06 +[collect] demo=0 step=167/700 +env0 step: 167 / 700 [collect] demo=0 step=168/700 +env0 step: 168 / 700 [collect] demo=0 step=169/700 +env0 step: 169 / 700 [collect] demo=0 step=170/700 +env0 step: 170 / 700 [collect] demo=0 step=171/700 +env0 step: 171 / 700 [collect] demo=0 step=172/700 +env0 step: 172 / 700 [collect] demo=0 step=173/700 +env0 step: 173 / 700 [collect] demo=0 step=174/700 +env0 step: 174 / 700 [collect] demo=0 step=175/700 +env0 step: 175 / 700 [collect] demo=0 step=176/700 +env0 step: 176 / 700 [collect] demo=0 step=177/700 +env0 step: 177 / 700 [collect] demo=0 step=178/700 +env0 step: 178 / 700 [collect] demo=0 step=179/700 +env0 step: 179 / 700 [collect] demo=0 step=180/700 +env0 step: 180 / 700 [collect] demo=0 step=181/700 +env0 step: 181 / 700 [collect] demo=0 step=182/700 +env0 step: 182 / 700 [collect] demo=0 step=183/700 +env0 step: 183 / 700 [collect] demo=0 step=184/700 +env0 step: 184 / 700 [collect] demo=0 step=185/700 +env0 step: 185 / 700 [collect] demo=0 step=186/700 +env0 step: 186 / 700 [collect][auto_swap_T] left_align step=80 xy=0.0058 z=0.0003 yaw_deg=-0.30 +[collect] demo=0 step=187/700 +env0 step: 187 / 700 [collect][auto_swap_T] left_align step=81 xy=0.0039 z=0.0004 yaw_deg=-0.31 +[collect] demo=0 step=188/700 +env0 step: 188 / 700 [collect] demo=0 step=189/700 +env0 step: 189 / 700 [collect] demo=0 step=190/700 +env0 step: 190 / 700 [collect] demo=0 step=191/700 +env0 step: 191 / 700 [collect][auto_swap_T] left_feedback slow_release +[collect] demo=0 step=192/700 +env0 step: 192 / 700 [collect][auto_swap_T] left_release step=86 xy=0.0004 z=0.0002 yaw_deg=-0.05 +[collect] demo=0 step=193/700 +env0 step: 193 / 700 [collect] demo=0 step=194/700 +env0 step: 194 / 700 [collect] demo=0 step=195/700 +env0 step: 195 / 700 [collect] demo=0 step=196/700 +env0 step: 196 / 700 [collect] demo=0 step=197/700 +env0 step: 197 / 700 [collect] demo=0 step=198/700 +env0 step: 198 / 700 [collect] demo=0 step=199/700 +env0 step: 199 / 700 [collect] demo=0 step=200/700 +env0 step: 200 / 700 [collect] demo=0 step=201/700 +env0 step: 201 / 700 [collect] demo=0 step=202/700 +env0 step: 202 / 700 [collect] demo=0 step=203/700 +env0 step: 203 / 700 [collect] demo=0 step=204/700 +env0 step: 204 / 700 [collect] demo=0 step=205/700 +env0 step: 205 / 700 [collect] demo=0 step=206/700 +env0 step: 206 / 700 [collect][auto_swap_T] left_release step=100 xy=0.0004 z=0.0040 yaw_deg=-0.23 +[collect][auto_swap_T] left_feedback released center=[0.05689999833703041, -0.19249999523162842, 0.7724999785423279] quat=[-0.33980000019073486, 0.0, -0.0, 0.940500020980835] +[collect] demo=0 step=207/700 +env0 step: 207 / 700 [collect] demo=0 step=208/700 +env0 step: 208 / 700 [collect] demo=0 step=209/700 +env0 step: 209 / 700 [collect] demo=0 step=210/700 +env0 step: 210 / 700 [collect] demo=0 step=211/700 +env0 step: 211 / 700 [collect] demo=0 step=212/700 +env0 step: 212 / 700 [collect] demo=0 step=213/700 +env0 step: 213 / 700 [collect] demo=0 step=214/700 +env0 step: 214 / 700 [collect] demo=0 step=215/700 +env0 step: 215 / 700 [collect] demo=0 step=216/700 +env0 step: 216 / 700 [collect] demo=0 step=217/700 +env0 step: 217 / 700 [collect] demo=0 step=218/700 +env0 step: 218 / 700 [collect] demo=0 step=219/700 +env0 step: 219 / 700 [collect] demo=0 step=220/700 +env0 step: 220 / 700 [collect] demo=0 step=221/700 +env0 step: 221 / 700 [collect] demo=0 step=222/700 +env0 step: 222 / 700 [collect] demo=0 step=223/700 +env0 step: 223 / 700 [collect] demo=0 step=224/700 +env0 step: 224 / 700 [collect] demo=0 step=225/700 +env0 step: 225 / 700 [collect] demo=0 step=226/700 +env0 step: 226 / 700 [collect] demo=0 step=227/700 +env0 step: 227 / 700 [collect] demo=0 step=228/700 +env0 step: 228 / 700 [collect] demo=0 step=229/700 +env0 step: 229 / 700 [collect] demo=0 step=230/700 +env0 step: 230 / 700 [collect] demo=0 step=231/700 +env0 step: 231 / 700 [collect] demo=0 step=232/700 +env0 step: 232 / 700 [collect][auto_swap_T] captured_right_grasp object_center=[0.19300000369548798, -0.1923999935388565, 0.7734000086784363] lifted=0.0009 ee_to_object_pos=[0.14980000257492065, -9.999999747378752e-05, 0.008200000040233135] +[collect][auto_swap_T] right_detour obstacle=[0.05730000138282776, -0.19249999523162842, 0.7724999785423279] waypoint=[0.05920000001788139, -0.36239999532699585, 0.79339998960495] clearance=0.1699 +[collect][auto_swap_T] right_feedback_prepare target_object=[-0.07259999960660934, -0.193900004029274, 0.7724999785423279] waypoints=72 +[collect][auto_swap_T] phase=right_place waypoints=72 +[collect] demo=0 step=233/700 +env0 step: 233 / 700 [collect] demo=0 step=234/700 +env0 step: 234 / 700 [collect] demo=0 step=235/700 +env0 step: 235 / 700 [collect] demo=0 step=236/700 +env0 step: 236 / 700 [collect] demo=0 step=237/700 +env0 step: 237 / 700 [collect] demo=0 step=238/700 +env0 step: 238 / 700 [collect] demo=0 step=239/700 +env0 step: 239 / 700 [collect] demo=0 step=240/700 +env0 step: 240 / 700 [collect] demo=0 step=241/700 +env0 step: 241 / 700 [collect] demo=0 step=242/700 +env0 step: 242 / 700 [collect] demo=0 step=243/700 +env0 step: 243 / 700 [collect] demo=0 step=244/700 +env0 step: 244 / 700 [collect] demo=0 step=245/700 +env0 step: 245 / 700 [collect] demo=0 step=246/700 +env0 step: 246 / 700 [collect] demo=0 step=247/700 +env0 step: 247 / 700 [collect] demo=0 step=248/700 +env0 step: 248 / 700 [collect] demo=0 step=249/700 +env0 step: 249 / 700 [collect] demo=0 step=250/700 +env0 step: 250 / 700 [collect] demo=0 step=251/700 +env0 step: 251 / 700 [collect] demo=0 step=252/700 +env0 step: 252 / 700 [collect] demo=0 step=253/700 +env0 step: 253 / 700 [collect] demo=0 step=254/700 +env0 step: 254 / 700 [collect] demo=0 step=255/700 +env0 step: 255 / 700 [collect] demo=0 step=256/700 +env0 step: 256 / 700 [collect] demo=0 step=257/700 +env0 step: 257 / 700 [collect] demo=0 step=258/700 +env0 step: 258 / 700 [collect] demo=0 step=259/700 +env0 step: 259 / 700 [collect] demo=0 step=260/700 +env0 step: 260 / 700 [collect] demo=0 step=261/700 +env0 step: 261 / 700 [collect] demo=0 step=262/700 +env0 step: 262 / 700 [collect] demo=0 step=263/700 +env0 step: 263 / 700 [collect] demo=0 step=264/700 +env0 step: 264 / 700 [collect] demo=0 step=265/700 +env0 step: 265 / 700 [collect] demo=0 step=266/700 +env0 step: 266 / 700 [collect] demo=0 step=267/700 +env0 step: 267 / 700 [collect] demo=0 step=268/700 +env0 step: 268 / 700 [collect] demo=0 step=269/700 +env0 step: 269 / 700 [collect] demo=0 step=270/700 +env0 step: 270 / 700 [collect] demo=0 step=271/700 +env0 step: 271 / 700 [collect] demo=0 step=272/700 +env0 step: 272 / 700 [collect] demo=0 step=273/700 +env0 step: 273 / 700 [collect] demo=0 step=274/700 +env0 step: 274 / 700 [collect] demo=0 step=275/700 +env0 step: 275 / 700 [collect] demo=0 step=276/700 +env0 step: 276 / 700 [collect] demo=0 step=277/700 +env0 step: 277 / 700 [collect] demo=0 step=278/700 +env0 step: 278 / 700 [collect] demo=0 step=279/700 +env0 step: 279 / 700 [collect] demo=0 step=280/700 +env0 step: 280 / 700 [collect] demo=0 step=281/700 +env0 step: 281 / 700 [collect] demo=0 step=282/700 +env0 step: 282 / 700 [collect] demo=0 step=283/700 +env0 step: 283 / 700 [collect] demo=0 step=284/700 +env0 step: 284 / 700 [collect] demo=0 step=285/700 +env0 step: 285 / 700 [collect] demo=0 step=286/700 +env0 step: 286 / 700 [collect] demo=0 step=287/700 +env0 step: 287 / 700 [collect] demo=0 step=288/700 +env0 step: 288 / 700 [collect] demo=0 step=289/700 +env0 step: 289 / 700 [collect] demo=0 step=290/700 +env0 step: 290 / 700 [collect] demo=0 step=291/700 +env0 step: 291 / 700 [collect] demo=0 step=292/700 +env0 step: 292 / 700 [collect] demo=0 step=293/700 +env0 step: 293 / 700 [collect] demo=0 step=294/700 +env0 step: 294 / 700 [collect] demo=0 step=295/700 +env0 step: 295 / 700 [collect] demo=0 step=296/700 +env0 step: 296 / 700 [collect] demo=0 step=297/700 +env0 step: 297 / 700 [collect] demo=0 step=298/700 +env0 step: 298 / 700 [collect] demo=0 step=299/700 +env0 step: 299 / 700 [collect] demo=0 step=300/700 +env0 step: 300 / 700 [collect] demo=0 step=301/700 +env0 step: 301 / 700 [collect] demo=0 step=302/700 +env0 step: 302 / 700 [collect] demo=0 step=303/700 +env0 step: 303 / 700 [collect] demo=0 step=304/700 +env0 step: 304 / 700 [collect][auto_swap_T] right_rotate step=1 xy=0.0000 z=0.0000 yaw_deg=-0.05 +[collect] demo=0 step=305/700 +env0 step: 305 / 700 [collect] demo=0 step=306/700 +env0 step: 306 / 700 [collect] demo=0 step=307/700 +env0 step: 307 / 700 [collect] demo=0 step=308/700 +env0 step: 308 / 700 [collect][auto_swap_T] right_feedback translate +[collect] demo=0 step=309/700 +env0 step: 309 / 700 [collect][auto_swap_T] right_align step=6 xy=0.0015 z=0.0040 yaw_deg=-0.01 +[collect] demo=0 step=310/700 +env0 step: 310 / 700 [collect] demo=0 step=311/700 +env0 step: 311 / 700 [collect] demo=0 step=312/700 +env0 step: 312 / 700 [collect] demo=0 step=313/700 +env0 step: 313 / 700 [collect][auto_swap_T] right_feedback slow_release +[collect] demo=0 step=314/700 +env0 step: 314 / 700 [collect][auto_swap_T] right_release step=11 xy=0.0002 z=0.0005 yaw_deg=-0.01 +[collect] demo=0 step=315/700 +env0 step: 315 / 700 [collect] demo=0 step=316/700 +env0 step: 316 / 700 [collect] demo=0 step=317/700 +env0 step: 317 / 700 [collect] demo=0 step=318/700 +env0 step: 318 / 700 [collect] demo=0 step=319/700 +env0 step: 319 / 700 [collect] demo=0 step=320/700 +env0 step: 320 / 700 [collect] demo=0 step=321/700 +env0 step: 321 / 700 [collect] demo=0 step=322/700 +env0 step: 322 / 700 [collect] demo=0 step=323/700 +env0 step: 323 / 700 [collect][auto_swap_T] right_release step=20 xy=0.0006 z=0.0040 yaw_deg=-0.33 +[collect] demo=0 step=324/700 +env0 step: 324 / 700 [collect] demo=0 step=325/700 +env0 step: 325 / 700 [collect] demo=0 step=326/700 +env0 step: 326 / 700 [collect] demo=0 step=327/700 +env0 step: 327 / 700 [collect] demo=0 step=328/700 +env0 step: 328 / 700 [collect][auto_swap_T] right_feedback released center=[-0.07289999723434448, -0.19439999759197235, 0.7724999785423279] quat=[-0.4004000127315521, 0.0, 0.0, 0.9162999987602234] +[collect] demo=0 step=329/700 +env0 step: 329 / 700 [collect] demo=0 step=330/700 +env0 step: 330 / 700 [collect] demo=0 step=331/700 +env0 step: 331 / 700 [collect] demo=0 step=332/700 +env0 step: 332 / 700 [collect] demo=0 step=333/700 +env0 step: 333 / 700 [collect] demo=0 step=334/700 +env0 step: 334 / 700 [collect] demo=0 step=335/700 +env0 step: 335 / 700 [collect] demo=0 step=336/700 +env0 step: 336 / 700 [collect] demo=0 step=337/700 +env0 step: 337 / 700 [collect] demo=0 step=338/700 +env0 step: 338 / 700 [collect] demo=0 step=339/700 +env0 step: 339 / 700 [collect] demo=0 step=340/700 +env0 step: 340 / 700 [collect] demo=0 step=341/700 +env0 step: 341 / 700 [collect] demo=0 step=342/700 +env0 step: 342 / 700 [collect] demo=0 step=343/700 +env0 step: 343 / 700 [collect] demo=0 step=344/700 +env0 step: 344 / 700 [collect] demo=0 step=345/700 +env0 step: 345 / 700 [collect] demo=0 step=346/700 +env0 step: 346 / 700 [collect] demo=0 step=347/700 +env0 step: 347 / 700 [collect] demo=0 step=348/700 +env0 step: 348 / 700 [collect] demo=0 step=349/700 +env0 step: 349 / 700 [collect][swap_T_debug] {'t0': {'pos': [0.056897, -0.19253, 0.7725], 'quat': [-0.339825, 1e-06, -2e-06, 0.940489]}, 't1': {'pos': [-0.07291, -0.194413, 0.7725], 'quat': [-0.400401, 0.0, 0.0, 0.91634]}, 'success': True, 'checker_debug_error': "IndexError('list index out of range')"} +[collect] wrote /root/autodl-tmp/robodojo_curobo_swap_T/outputs/hdf5/swap_T_stagegatev23_seed50_diag700.hdf5 +2026-07-23T23:54:30Z [163,145ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-07-23T23:54:30Z [163,145ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) +[163.569s] Simulation App Shutting Down diff --git a/yzr/swap_T/manifest.tsv b/yzr/swap_T/manifest.tsv new file mode 100644 index 0000000000000000000000000000000000000000..60821f656a2c78991f34762b4fbc8ecc82589767 --- /dev/null +++ b/yzr/swap_T/manifest.tsv @@ -0,0 +1,42 @@ +seed steps bytes source_file path_in_repo vision success +0 388 375996412 swap_T_generalized10_item02_seed0.hdf5 yzr/swap_T/hdf5/seed_00.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +1 389 376717044 swap_T_parallel_air_align_seed1.hdf5 yzr/swap_T/hdf5/seed_01.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +2 289 296870905 swap_T_hybridv16_seed2_official400.hdf5 yzr/swap_T/hdf5/seed_02.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +3 389 397364456 swap_T_rightliftv17_seed3_diag600b.hdf5 yzr/swap_T/hdf5/seed_03.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +4 354 363124459 swap_T_calv8_seed4_official400.hdf5 yzr/swap_T/hdf5/seed_04.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +5 341 340381903 swap_T_finalv6_seed5_official400.hdf5 yzr/swap_T/hdf5/seed_05.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +7 332 337895572 swap_T_regv39_seed7_official400.hdf5 yzr/swap_T/hdf5/seed_07.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +8 398 400039697 swap_T_regv51_seed8_official400.hdf5 yzr/swap_T/hdf5/seed_08.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +10 354 350872669 swap_T_finalv6_seed10_official400.hdf5 yzr/swap_T/hdf5/seed_10.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +11 390 395387909 swap_T_officialv25_seed11_official400.hdf5 yzr/swap_T/hdf5/seed_11.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +12 396 403285748 swap_T_overheadhomev18_seed12_diag600.hdf5 yzr/swap_T/hdf5/seed_12.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +14 331 329244946 swap_T_finalv4_seed14_official400.hdf5 yzr/swap_T/hdf5/seed_14.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +15 351 341040768 swap_T_stagegatev23_seed15_diag700.hdf5 yzr/swap_T/hdf5/seed_15.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +16 399 387052458 swap_T_officialv40_seed16_official400.hdf5 yzr/swap_T/hdf5/seed_16.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +17 314 310497350 swap_T_finalv6_seed17_official400.hdf5 yzr/swap_T/hdf5/seed_17.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +19 361 358210606 swap_T_regv65_seed19_official400.hdf5 yzr/swap_T/hdf5/seed_19.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +21 398 390253077 swap_T_finalv6_seed21_official400.hdf5 yzr/swap_T/hdf5/seed_21.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +22 341 336415074 swap_T_calv8_seed22_official400.hdf5 yzr/swap_T/hdf5/seed_22.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +23 396 397263259 swap_T_officialv31_seed23_official400.hdf5 yzr/swap_T/hdf5/seed_23.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +24 344 354126351 swap_T_stagegatev23_seed24_diag700.hdf5 yzr/swap_T/hdf5/seed_24.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +26 323 320461048 swap_T_finalv6_seed26_official400.hdf5 yzr/swap_T/hdf5/seed_26.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +27 366 361372456 swap_T_calv8_seed27_official400.hdf5 yzr/swap_T/hdf5/seed_27.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +29 363 361916043 swap_T_calv8_seed29_official400.hdf5 yzr/swap_T/hdf5/seed_29.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +30 355 348947324 swap_T_regv45_seed30_official400.hdf5 yzr/swap_T/hdf5/seed_30.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +32 399 389828824 swap_T_stagegatev23_seed32_diag700.hdf5 yzr/swap_T/hdf5/seed_32.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +35 349 355139585 swap_T_stagegatev23_seed35_diag700.hdf5 yzr/swap_T/hdf5/seed_35.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +36 370 372436278 swap_T_stagegatev23_seed36_diag700.hdf5 yzr/swap_T/hdf5/seed_36.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +38 335 336759074 swap_T_stagegatev23_seed38_diag700.hdf5 yzr/swap_T/hdf5/seed_38.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +39 398 392706810 swap_T_officialv65_seed39_official400.hdf5 yzr/swap_T/hdf5/seed_39.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +40 376 362523590 swap_T_stagegatev23_seed40_diag700.hdf5 yzr/swap_T/hdf5/seed_40.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +42 329 330538536 swap_T_officialv29_seed42_official400.hdf5 yzr/swap_T/hdf5/seed_42.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +43 313 310183946 swap_T_calv8_seed43_official400.hdf5 yzr/swap_T/hdf5/seed_43.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +45 353 344506527 swap_T_calv8_seed45_official400.hdf5 yzr/swap_T/hdf5/seed_45.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +46 382 367638080 swap_T_calv8_seed46_official400.hdf5 yzr/swap_T/hdf5/seed_46.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +47 387 406944378 swap_T_officialv32_seed47_official400.hdf5 yzr/swap_T/hdf5/seed_47.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +48 383 376336295 swap_T_stagegatev23_seed48_diag700.hdf5 yzr/swap_T/hdf5/seed_48.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +49 377 377927737 swap_T_stagegatev23_seed49_diag700.hdf5 yzr/swap_T/hdf5/seed_49.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +50 349 347967932 swap_T_stagegatev23_seed50_diag700.hdf5 yzr/swap_T/hdf5/seed_50.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +52 288 291170745 swap_T_officialv32_seed52_official400.hdf5 yzr/swap_T/hdf5/seed_52.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +53 293 295310327 swap_T_calv8_seed53_official400.hdf5 yzr/swap_T/hdf5/seed_53.hdf5 cam_head,cam_left_wrist,cam_right_wrist true +54 391 396204763 swap_T_officialv45_seed54_official400.hdf5 yzr/swap_T/hdf5/seed_54.hdf5 cam_head,cam_left_wrist,cam_right_wrist true diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..fc0fddbfa41dabb1b068dc7e4164932d92c29607 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce150ceac8f06dbc9e945dce1152ea86c2ce30fdea71ff137ad8cbf550ba3007 +size 3433086 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..ab03a8ed32a010554e104ef569f2f8c23d35bf4a --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2f1dbb0997f5305dceb772c73c959ad182a5a281415b2479fcb01681a11da72 +size 2385491 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..31c658fc0396f3cf7acdf134118a0abba15702c5 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad0cc26c61b020afa94ca233a427c1e8d237b43b1da17c1e65528119e141a752 +size 2770686 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..674015f63b9c07212a31c6e6a364656145f49f5e --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebaa01841e5453cda1e492c81380f22c5396b77324b0da4530d19e988c697f36 +size 3599616 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..d521289aacf417b4993b4d1c70d3f9883eeb1998 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0946f20aefc5c9e03b076b917845f29ef795be3bbdcc80cfe346d38d323de9d +size 2576712 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c5a17ecdff202481886bbc745b411afeb4178c20 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9777970d4a996584b1d7b9573c6cea619c3615cf99ea776b80d6d78c3b0ee8c +size 2827406 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..f4bb10c5c2f86118f53114b15a5b05aa79606720 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d3e9291d8b9ecdd1c7965750e4186e1efaf7cce78a9046a6d2486b54de9120f +size 3685857 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..389d482a7ac982283bed2bd6046a1ffa42a5d16e --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f61df231b985ce601ddb30ba29a3fe84c6ad7db7821691ae352621a3cd4589f +size 2744442 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..ec104489a01a52c30a5c8bf2a9c8536a4d1cb2de --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3935fc974d2fb26d3009fe28789458d60d9464b216ffcb3b8932494f951f380 +size 2500645 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..9a955696a5553744a55a722b49af55dbd3cd4830 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f4f4c2d53d0018c0324b4b09ba8e64ad8863adb91a5f4fbc46abf21b882e6ff +size 3238982 diff --git a/yzr/swap_T/videos/swap_T_calv8_seed43_official400/swap_T_calv8_seed43_official400_swap_T_auto_swap_T/demo_0000_seed_43/cam_left_wrist.mp4 b/yzr/swap_T/videos/swap_T_calv8_seed43_official400/swap_T_calv8_seed43_official400_swap_T_auto_swap_T/demo_0000_seed_43/cam_left_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6b461d83d07cdc7eb41120942d9f0c98c569286a --- /dev/null +++ b/yzr/swap_T/videos/swap_T_calv8_seed43_official400/swap_T_calv8_seed43_official400_swap_T_auto_swap_T/demo_0000_seed_43/cam_left_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25ea1aa52bb9c88c5c70cc626369e8206e59f8ec03dee58a1ef5484b6928e0fb +size 2294410 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..7837a45774105458d3992bedee91ec15f69ac5d9 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43ab54ed21100f13db9bcb6701a5ca80013e2d1492a435de61c0dafd3e860974 +size 2521035 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..d6673e5a61c8e240e2d796b62db06e75e947e8e8 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e6e2ab4f735d43a753c2f02cacb328aca0807cb4fdf2fe366c310bd3e8f8877 +size 3563295 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..09032415c02df2cd93657a13c1e1659c955f7290 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39a094334935028b3bfe24c348d9b9c10838ee651df527b5ba0debb6a61210a6 +size 2521053 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..b3e6600536323473ffe9b238bd0c422840862c92 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10fe9c71ce359f91781b88120767e2bf33955941a761486bbe5ff8564d278b3b +size 2813267 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..4c170069387b4d4ed8e1fd29d0bb377b8e907338 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7de061fa9eaf752959e39121ca8f4c1552d0129bce28b942b48c69bfb335df57 +size 3841959 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e24c55e65ecc678d14b89901df44d6c83e6bb8a8 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2daf0db7ac31bf45e9370e8406fb301ced9cd454a7fa8014e6469f5fbbc9d0f7 +size 2888965 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..764c57a59cbe1b627a1fa093beff0b382104e2f6 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f1ea702abb8c125673fd99bbd92b460655487c62726bfc721ef2f4dc9882c52 +size 2983621 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..f6eed49b1f206cf938b11b317c4d876885d3bc3b --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b75b4a499fc1eea9a252ce8c7c685ff3d1b380ecdce4c5549d5109b77c843bde +size 3568595 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..78bc0ea9e3f7ed8677477547e75e9171021eebc1 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50b82c142a3aa6fb3d7e3738faa9aa1cc8eea375356b3ae59ec5603fe60eb940 +size 2741822 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..a166740984698aa7c66c00e16ec444787f3200eb --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7f04b7b560c98dc86614f6d463601dd35811de19863aae570c037b6cbe59da2 +size 2614532 diff --git a/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_head.mp4 b/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2e224cf4c155585348344f24cdf925cffb45a0d --- /dev/null +++ b/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62b926b392f3acdb85f1642acc1f994cec59b7adc319544df7c8e1f6871cb95c +size 3018506 diff --git a/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_left_wrist.mp4 b/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_left_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f7752c4fd93331ec94d6b1d1ebadec920a4f5225 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_left_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13559731dd96f38b8dbdfac3ce31ea6d1d869d9da01323a483459aae148db361 +size 2145094 diff --git a/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_right_wrist.mp4 b/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_right_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..918bd36a2546725ca39195c13c962dcd7688cc26 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_calv8_seed53_official400/swap_T_calv8_seed53_official400_swap_T_auto_swap_T/demo_0000_seed_53/cam_right_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac4965af436ef7f166de04e944c9620053af13598da1e9d8a4e36ff49e1f7f4b +size 2201524 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..7d821064d7253edb4c369e0b5737193a09c49398 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f46cf958aa5bb6d2401b44cc2328ed520230515f95e2311b29a593d88376604c +size 3309715 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..1b413fb7687009b8a0c7954bcb5bc7aec8407729 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd0039e431abef9797731d56530493bf431f2b42942739f53584853b1d07eea8 +size 2419396 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..74c32ca40e9ef05739f6feb1ff376f75710611cf --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd898842885777cdb7cda66e9501d90ed49ee38e8cd88e29e27545e43f128de4 +size 2709404 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..52253f3addb7309203e84b5f1c6d1718a28bb739 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a99de62e861ac74e5f1c1e15f62d7a8cb0a4eea5dbb621a96e281b528847279e +size 3615323 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..62596fb0e4bd10d867ae8eb9bdb2b0ce780205d9 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:369a9b7ecf1ad72112496506b40084721fdebd91f40384fce2c03969395ffa54 +size 2648214 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..1e8754bfaa327e1e33bf6d6c571750ce0a6471c2 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:474e49eb554da4cd197fc625fc2d3b96c0ea37aa4bc9ccf85aafb84d89631831 +size 2691208 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..8818439d552f23b380db26c5d2c72f87c398ecde --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36ce6fd5ddbcd0080aaa2918cb6285a8da9469ca0abed6da546d7e24e807e5b1 +size 3208690 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..14a3c958195c6fcffc3b5a3bd6942a26b43ce876 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74d2603f951e614d1c63c7a4e2eb6bdf91d82b7484a36d4f3e5354f21f29e5c6 +size 2300323 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e7996cb670e889a3d26b3f551f6c494252aefd2b --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28e8a4cfbf0f8577c1405a951f850d89fe4c2baf39d5b8b4e0bf9f18d923dd91 +size 2343733 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..9ce7ca4be493e6f908dbb9a29e42c1c9287244d9 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0095ab76de3077867b2eb051de1d68207fb3d7fe98922ce8db3e622ff598de3b +size 3765933 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..dd6ac25db2de96ed5c98dd6317002373697d926b --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5dee3f329be124da2565f75e8a9542bb3cf347537e09848d2d017bc2026345e +size 2974164 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..2ff5f05f6937b75aa2c4b7b4bb2e49945ee3de50 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16231688e297813f24386883fc05ab2fcd9a9a2e23b74aa05d99be61fc2ad4e6 +size 2777355 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..6591d18f82cc39c965e2ac20f7e28551778ed011 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe48130f9d4c9987b9a354c2ebb20cae1263eb85961cc0d4a32e0e5bc5a4bae +size 3221480 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..d17b3d4670a5c5b549c21e33060b9420b2ec3a20 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c14812671854b73f600d53f4fe586adea12a3a1e522739d39cfb027b4b04d5a +size 2502078 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..8dbe60344d497988a88a3c3d9ce4ffb0c3f20784 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2419e2329de7092bec62aafdf629902db93669704edec65434d7fb869a6bd499 +size 2494027 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..ff25ee8133a2bb9885bc62ba23304be603fb9b3b --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e66763cd2000c754206d09ca57cb6bda6b11f28c0c6d0aa948534851861a25f +size 3409620 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..4fab28417b05da1cf785c24dec9f730be083f217 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3819cbf9bc1b73ec0c35abb049cb98d0934a9c95d602b4c6fd2d51f4f5c173aa +size 2601799 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..cba8770c6c96bdec33bc800ab5c903cb97eebd01 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4d28a574390d2208ee2e3e3b93f1a02afcddb268073b289e798d6efb9347d0d +size 2346874 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..12ddd7164ebd0866659f27e5a645bd8e11e0633c --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a72582366c62413673488a96490a150f40a7c5116c3bbbf6e0e411bd96e695a +size 3735972 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..17d5f2bcedbf12941f583e51f13c08e95c63db09 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:235a72dd41efefef7beeaa24daf30bee29d473a0c3b5665a7947fa045d51b80e +size 3232745 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..222a6919b91ad6432131b023329f3e434bed0d44 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6793f4223c3d2ca2391ee19403b54654a2033259d658089d52b837d759538949 +size 2564212 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..808d5b1375b81796c0baf6e518b4c3f1ef729ba4 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6876a9adf7fce2818e4fac2a011e3627273ded8ab7c77ab937d30e0f338ca174 +size 2985422 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..92b5171eb9cbb547cd56d8775705bdd25b4c0035 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63537ca167a8ebbf4f5f48cebfce058516bb6c1a39e125eee02cd652eb5a46be +size 2216939 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..f09ac6110119399c82ed7692ef41f0013516e444 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2462a4492877a6ad34707fe55dbe533e0f3f5455f6db254b865bfd791df5ea29 +size 2267864 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e33c03de70914821e2869855bf025459495f41f7 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd2edf6ce71dad0eb8bec3c19ed4cb648cc951b29da0cab7db5d13697b9a11a7 +size 3881791 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..149ec8403b0df02c48f257825148fec261422688 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5212fc6a3c0a5f448e36da4dcdf01d96da7d709833062d5c2fcd6caf4d8e617 +size 2856553 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..f148a93b83339dd59f55dbb7657e0c640003edbb --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:821d5f05f5dd53952c128bf317865d4b58c90bae481266365db6fd9428d6bafd +size 2596899 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..5928399a771fcecfeae30fbc852dca492d59f9d1 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82ef04a37b18913b1615b0de2fabc1f17bca7b75ce99ec0b5c3ee14588055f29 +size 3302993 diff --git a/yzr/swap_T/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_left_wrist.mp4 b/yzr/swap_T/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_left_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9d0542f0e151fda539d1d850ded82c276a1be9c7 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_left_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc45fef66c3d5fcdcf2047198c08114ec276bb36d9e6c9ce7b242ee9dd73c8c0 +size 2430095 diff --git a/yzr/swap_T/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_right_wrist.mp4 b/yzr/swap_T/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_right_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..540d830d8db23b8070e677b09ab69044953ff0fe --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv29_seed42_official400/swap_T_officialv29_seed42_official400_swap_T_auto_swap_T/demo_0000_seed_42/cam_right_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc9583243b7d0d50aa75cac91a412c70e75368ccc5f729371192c7ee0705d13e +size 2499632 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..9e83156e62c30439604e726f6d72051fcdad2da3 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d31415de322b5c4aec9e5adbf708a24e1f027602a47d6be5146dc314e47ccbd +size 3920023 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..0e0c1fd536efd9760b58e05cad7e0ddc377a647f --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9af081d75e3a252f06b9c2da71bd5540e777a59864741575e0065965b207449e +size 3215623 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..8ba6e07c17f928a2b99eb52032cf7dadf0dad46d --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30fb0e9c5bf90fd68b03ea8507a173b7343d462b9a420c899ea8b64d2beb0084 +size 3042184 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..ccc6dfcbcab216a7890874bca92312d5532547a2 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:363cc888c746b8c44b1d7afd0c75f9b47196456020898aab2d427a657bb408c3 +size 3916709 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c980245ece7e12803ce9488a2a2a0dd844a5d8ea --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62fe6a00107c4fbf791ee75d327614ef866fc8104c2c0809072569c7e3ecc40e +size 3341551 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..33b3b2bbd35ecc63a1a6c62d27ff7fdd13b4e206 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c3a32d797bf4168fc709c2edc6a33a4189a62dafa4d091e1e4c583b960bf3e6 +size 2571747 diff --git a/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_head.mp4 b/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..247f98dd883d9e50fc4b53c26553e667579aeaa0 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b1c6674726db581519eb7796ef5fb70082281bde0e727b65d257229895aa357 +size 2790380 diff --git a/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_left_wrist.mp4 b/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_left_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..65555611d525a4b9971e4968d117e45dac15caff --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_left_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:579caf8416010dfab26a5d1262f0d9916afcdacb741f6fbc74b29e8faf68ebbe +size 2229594 diff --git a/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_right_wrist.mp4 b/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_right_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3da48d90e6c863d3165d37b86755495356ae9e5e --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv32_seed52_official400/swap_T_officialv32_seed52_official400_swap_T_auto_swap_T/demo_0000_seed_52/cam_right_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cc4148f8ba69895f1d93ebd6f39af1a5db98cbe3906c5e938f03cf58c81e1f2 +size 2062160 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..26bbb0c624c9d1dbbd355099bd6ad420c3ae2122 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d11b3aebb43b436d050e85b364e20bd3a225332411d67901995b93794bce4440 +size 4095037 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..24d9133b5b19b1308df6721dad5f2ce4220eb730 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a221021304b4de704049bf586b7144625fdcff3e51530631257a52a924dbfd6c +size 2950951 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..ca81acc97b1bbc0b659fe998942f6163deb3d866 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5449627aa3fc3d97d40a709464f80ffcbbe53f5bc6d2e2d5ff492f66a8cd4e0 +size 2785885 diff --git a/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_head.mp4 b/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c081361e54768bfb11f142c7d29e7148bf098b6a --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3b4468cd7ae3226db0e61f046a085f4a913a5c4b5bfd5bdb59fc9e692aa451e +size 4017546 diff --git a/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_left_wrist.mp4 b/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_left_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2631a2ad45b151b6465735e6a1dafba5431727d3 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_left_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57c94a74e3b622937037033ddf27e5e069ee85f31733c0f7995288cc32447c42 +size 4132657 diff --git a/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_right_wrist.mp4 b/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_right_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8bcdc951bb828ceab2b53362e08aadd7aaa5a03a --- /dev/null +++ b/yzr/swap_T/videos/swap_T_officialv45_seed54_official400/swap_T_officialv45_seed54_official400_swap_T_auto_swap_T/demo_0000_seed_54/cam_right_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e821a22251b375ac303cf568c2d25d9fc3f12f24bef4a9c52edcb5919fc9661 +size 2547955 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..83341538778483a348d04f4938658116fb18b466 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f374f1720ccf4b56d184d61ebe58f1f04abfd7dc8e2b9137cf167ba9db52d882 +size 3961326 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..fddb3ca5d2927c4ad9e70f9666c98e1c58909596 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35f2977e0008ac9c97486afdb09d3bffcff64c02ce8bc1bb75b5d94d24a03341 +size 2944362 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..002adce52fddedf4412a5dc7162e995b62e44fd9 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ac156aaab0945b636298610c2b0a195f4f38b4ff234b27b6d57bf6bfe236f26 +size 3594327 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..1e952b06207653ab32588f909def7b0bca6d5536 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dedf4c3a6897ee9af04da3cdd9c2e105a19a531affaf1d04a0700de45565505 +size 3997768 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..b9687e3c02c936e38c7e47bd1c89a6d88589221e --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7aad38d67c96ffc0e97c72d4adb6f3825faacfd4f0803becb6e5869223fc61f1 +size 2974335 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..5872472333b8a23f3eb34a0e8a1a07ed8660278d --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d241d918bec25e26c9813c518739a1e50d9d16a7dac3987d34737199bb2f460 +size 2835954 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c5f7cd25c3b505e67d5741ccd9b92ab76ece128a --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc35499acef8a6d09d0892b8865b9548d4711254fb07097e85761b51503c3eb8 +size 3735777 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..3e995b30fbcb7a7f9510f0a719d844fda583ea2d --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4b98a7a5e1081895127a4a65fa8e68a20060d8c448ac90264766850f9f682c0 +size 3169964 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..54c07af612e1812dd6c261a2859573eb91a9949b --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:850eef1141f1467adfce1bfc69b6b4f2d1bd75c5d8afc69105505e3021649894 +size 2605234 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..6c62018133b2c1231aa70d1898ec38e51a7e3f2a --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ee6951b3f662515bddff86fa4f9876ab4066d4f2a921b2d1d3f112b43ecaf54 +size 3416348 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..dd77bd77cedb74709e46c37bbb6c809c4f14b3e7 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79891a5b6be341253bb31286b348ec74d549ca541be804580e3ad6aae1800562 +size 2578183 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..d9578d75d6465fcff19f38700ca54753f0a39c6d --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f72f992bc65e0b05d7ae1de54c9d14c05787e3de08bbaad8fc7f8ff361157c80 +size 2282245 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..3848bbea656469f3da3ecfbcdb6dd6e44a9d1bbb --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbdbc863baa30c6407faaad7d56ae6684e9daf7a4320861d19a0ee591cb42a1b +size 3575221 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..892e250396d226205583fe07c4ffcd179b407094 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06dc0ff53dfb7047325c10e72269537c4d34b326b34ee7a259d3f31081954b88 +size 2765089 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..3432e7be7519ec266dff636a0af9135404e97b6c --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b82fdda3bf15abc55aa77f877afbb1075472d101130000c245014925f52dd832 +size 2499949 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..6bafa2561f34d7b99245d7e7bcffd5e5ced3663d --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42340432bc1356f30d07c45b253bc5dcf99be8f594ced1d5faf2b678df39773e +size 4115866 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..27ef10ae908c5fdb6f61b51eee7a8cbce847b262 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fea817b9462bf1bb95bcc5bea334d57c30b91b85d101d61b7b29dff9c77901b7 +size 2632619 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..b35d79baadbc389b049096d543bf73d8b0be7a9e --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3679247960fd26c6bb3055cb08511c8bb1e6ff07601b9de843c7c6e0e91cef00 +size 3327636 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..ab7e77c4af73af88427c3d06d7325ff3d4657dfd --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59115cc22c1dad2952a799193b1a1f8d252974a700f13c4b1ed6cf4756662556 +size 3625502 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..90c613fc78b8cdfeb04652482f0f63d87a6e81c3 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f49a29b23160634a42692c6e89d716e9c42c644fa6802e30c1bbb2562949085 +size 2415677 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..3668e78f06ac4a3841b96329d3ce0bbeca53ff51 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f04098792f4e4d973295c0f14fad597bc01263e4e139543d9851ab8b1611f94c +size 3246741 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..90fbbb1806ebc7ab626c9a69c5fe5362d668f378 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba1e49122172cd2baecd08bbea85ad6a96bcb21e76b2c2d3c131f2d9d4d621be +size 4118218 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..ba751a64efe6b943e92dd00625006be57cc7df96 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:606fac87c1bd1a2333130cb3b5455d08c764b75dc775d6cd41b9321b7978606b +size 3259344 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..a0dc8b81a85cd2f1d866f45441108f11670a9803 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa6da674a085d133ebfaec4d33fc7f27a6e356f5e437058b2cac83f4690b00bf +size 2859869 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..df509d4084052be309e41420020918a27bf39eb9 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aed254634635dd5271f924fc8d0edbfc1c3a7bca93b73a8750809d3d68b72293 +size 3438211 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..84209cf473fcd8fcd5535e07dbddfd0f5e8c262a --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90e9c7f97aab1e3075e9a9834559ccef2cf9eef30c4041067d03dfbdd3412b5f +size 2281706 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..5a7164a8a6d52f6e8b169f975f1af0a9cb344bea --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00c6afbcff59665cbe144d0cbb558363f4a1d169128ad327c8cb29431a69fb54 +size 2846040 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..799c9eca401f63f824f5854ee61c53e7885969eb --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7189e7bd720e65adc01d7060fa4758daeab63bd3e6e2d515a13da49d9eaf1e45 +size 3414783 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..fcf9d941898a7f5305299f4f9d25b3252b8f0e7d --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e58850dfa8990217427119331a92fa338527b9d47e8794da796e1448f55c42c7 +size 2348122 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..cf877ac83caf132e5f43e59585b53790e6bca99d --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e26989116af85ed3ee35078d076a3d0c1643951a959de8c8a4e3cc54a81dbd0f +size 2589673 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..62e9dc87be53b4bd2dec4af6f11810f7a3a5c970 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:027ff3a84234cb023cda682d8f3fc6ae71a6fabcd176c5706d487107d6b3b942 +size 3797821 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c60db9b710dcfa9ee526cba17c4f42b81a528417 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5dad479758af5b7056f9e723284e81d9cbe481ab30af3420ff354ebd4ea709f +size 2748737 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c42e56e38003be1002ff3dc9561ea8da800185e5 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e6d63c1e18d27bbe4d9950109f85ca0ae7b55a05a9cddee2aa393a16e11a7aa +size 3053447 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..e0a59919171ecfdc542b667be826a96e3b33e19c --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa65fc83f3bf44e0fe80224b96c1abb0a57e394cd96d8b01c1033d1ea4cea885 +size 3586351 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..2139c16e01291b99b9d931f93d11833f0f219429 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2053de7f3f055fd56717216dddfca72c1d46a4051f08ef4f9f771a862a81b44 +size 2457524 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..8556d0b83084114baebb67b28251cc37215cd715 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b32e135da22e5d373c1900bd14afdb882825cd3278b2cf55e3864b5b5cedab3 +size 2462463 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..00312745f7b4be3ae891ee6cab2590c558ff5cbc --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1147baa334847f081db9ac3953ecb2bf661295773edc0460de87500b92ba6ff +size 3657502 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..5ba4ede05dd3da569cfb18bb423151eb59101c28 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e32736a3d545761e6a892fd37f6e85b793dd7d42720714bc7c60e1b80d9d7f13 +size 2594437 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..0d97a57c4b8a1c26940a72fe89fab909e5260b46 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dcfe47bd2662ec0a1c46729cb6bbbbd0ec2c078fcf06ed0933b29a54858f08e +size 2570048 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..674c48e9fd2ea22e06c5b58c0176522c8ad0b14a --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e2446e5609b3d00a32c3ccf78e23b5a17f01bb876f7bb79811d038ad5019a1f +size 3306949 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..f599b8d75312f9efa2237ac5027b279c7cd0a991 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28b21c8083f8800787065ad6486a3cd107c1ef0f3f726ae53f1a9cc70a446d41 +size 2334803 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..0fcb4f09f8ebfe2820174afe44cd6eaa585b16ba --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:408370de5131d5a34f8340ed33f65214d94afc04df12ed20a316432509b608c0 +size 2691977 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..de60eeb4bced6f09201d060c01d2228368a951f2 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8374fdbcc1c871436337007cd8a5482da5eb72447ae1dff3ade7eee6a4e0cf28 +size 3726998 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..b4d5a37fa22e611eca450ed0f5acfd639ccfe66a --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f70e2595447ade889a2b5b97ad876249c019f66edc0e1cfeb8dfcf9e851d504 +size 2554294 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..a7ef3aee30a164cb09b842f62d3040129a9b9727 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2eda152b6b739b253f30fe71977a7cadc7155f68537f65cf80c62a6d04e2644 +size 2952080 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..4e77eb1423b70e53ed278682517a9159b3fa26cc --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a992776ef59c4182a73a9835ab759ef9877c8ab9a880f4276d2aa155b9aaf81 +size 3646354 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..c080f4288006a11ebf0daa64ca616228a5a6a1f2 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9601d03b051f0dcb5a82543a6ceb3c7c1e207d380849e8e5cd747bbaa43ffae0 +size 2624431 diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..09221cda0b5102719f22a517c4048d2266f02b03 --- /dev/null +++ b/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 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a65c0f7ac0e7db613e8a116b0deacfa4fd0868f4470581d67a34b249c80ddc5c +size 2797737 diff --git a/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_head.mp4 b/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..285b4be6a380fbd9649f592e16a80c276c47cbc4 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d239dacf6323e5c942b669eea296a998216075c4062cac8eb5733db4cb117df +size 3744805 diff --git a/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_left_wrist.mp4 b/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_left_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..335e8d6c1788356eb6aa98ed8bae0fe6439094e1 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_left_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c63f01840da66e3f5b462770a4e45b84262b7e76606c11168ae3fefaf7ff93d +size 2563200 diff --git a/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_right_wrist.mp4 b/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_right_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..50be49c8c20eb3e89755ad8a02e1a0c585ae16be --- /dev/null +++ b/yzr/swap_T/videos/swap_T_stagegatev23_seed49_diag700/swap_T_stagegatev23_seed49_diag700_swap_T_auto_swap_T/demo_0000_seed_49/cam_right_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03c60a5907a869184c723f5facbb872c4c666a8a8895703ada6b307232207916 +size 2568119 diff --git a/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_head.mp4 b/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_head.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2853eaa867d8fdd7cd48c44deb59fe14394ba8e7 --- /dev/null +++ b/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_head.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:551094c3ad5c48f86f2d530e65903815d28db9c263ba3e5245c465f1369c8c0e +size 3426009 diff --git a/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_left_wrist.mp4 b/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_left_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..998f80dee6a6f11b8931aa1e54fcae96714cb0ed --- /dev/null +++ b/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_left_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb2e3e76d559ac84050c1c8824fc37bd1f208dd10db6d4c0d0911ce669d5373e +size 2399141 diff --git a/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_right_wrist.mp4 b/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_right_wrist.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..64ed8bdb17803edcfd66a022a8ad6d436b9c568a --- /dev/null +++ b/yzr/swap_T/videos/swap_T_stagegatev23_seed50_diag700/swap_T_stagegatev23_seed50_diag700_swap_T_auto_swap_T/demo_0000_seed_50/cam_right_wrist.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:908e90a1beb0e84386dacf705c5bb2b67add1e6587f2931b089c641dabb37ff3 +size 2775774