Datasets:

padiredd
/

Ablation_Block_visual_raw

[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /workspace/cyclo_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
Loading user config located at: '/isaac-sim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
[Info] [carb] Logging to file: /isaac-sim/kit/logs/Kit/Isaac-Sim/5.1/kit_20261107_024238.log
2026-11-07T02:42:38Z [563ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:38Z [563ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:42:38Z [635ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
2026-11-07T02:42:38Z [637ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
2026-11-07T02:42:38Z [637ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
2026-11-07T02:42:38Z [637ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
2026-11-07T02:42:38Z [660ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3997.67 MB. To avoid a persistent long startup or USD load time on every app launch, recommended to free space by deleting driver caches using one of the following methods:
- By running the app with --/renderer/shadercache/driverDiskCache/flush=true (only once).
- Or by manually deleting the following folders: '%LOCALAPPDATA%/NVIDIA/DXCache/Omniverse' (Windows-DX) or '$omni_cache/shaders/nv_shadercache' (Windows-Vulkan, Linux-Vulkan).
Driver caches will be re-generated which may take a few minutes on the next launch.
2026-11-07T02:42:39Z [1,087ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:39Z [1,087ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:42:41Z [2,957ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
2026-11-07T02:42:41Z [2,958ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [2,972ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
2026-11-07T02:42:41Z [2,972ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [2,999ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:42:41Z [2,999ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [3,055ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:42:41Z [3,055ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [3,069ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:42:41Z [3,069ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [3,069ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
2026-11-07T02:42:41Z [3,070ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.

|---------------------------------------------------------------------------------------------|
| Driver Version: 580.126.09    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA A40                       |        |     | 46068   MB | 10de      | 0          |
|     |                                  |        |     |            | 2235      | b8929e1f.. |
|     |                                  |        |     |            | 1         |            |
|---------------------------------------------------------------------------------------------|
| 1   | NVIDIA A40                       |        |     | 46068   MB | 10de      | 0          |
|     |                                  |        |     |            | 2235      | 1767fd9e.. |
|     |                                  |        |     |            | 21        |            |
|---------------------------------------------------------------------------------------------|
| 2   | NVIDIA RTX A5000                 | Yes: 0 |     | 24810   MB | 10de      | 0          |
|     |                                  |        |     |            | 2231      | 2c2d41e2.. |
|     |                                  |        |     |            | 81        |            |
|---------------------------------------------------------------------------------------------|
| 3   | NVIDIA RTX A5000                 |        |     | 24810   MB | 10de      | 0          |
|     |                                  |        |     |            | 2231      | ea65648e.. |
|     |                                  |        |     |            | a1        |            |
|---------------------------------------------------------------------------------------------|
| 4   | NVIDIA RTX A5000                 |        |     | 24810   MB | 10de      | 0          |
|     |                                  |        |     |            | 2231      | cdbb4419.. |
|     |                                  |        |     |            | c1        |            |
|---------------------------------------------------------------------------------------------|
| 5   | NVIDIA RTX A5000                 |        |     | 24810   MB | 10de      | 0          |
|     |                                  |        |     |            | 2231      | ab881203.. |
|     |                                  |        |     |            | e1        |            |
|=============================================================================================|
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-138-generic
| Processor: AMD EPYC 9554 64-Core Processor
| Cores: 128 | Logical Cores: 128
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 773700 | Free Memory: 518212
| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
|---------------------------------------------------------------------------------------------|
2026-11-07T02:42:50Z [11,917ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:50Z [11,917ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:42:50Z [12,047ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:50Z [12,047ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:42:50Z [12,060ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:50Z [12,060ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:42:50Z [12,070ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:50Z [12,070ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:42:50Z [12,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:50Z [12,071ms] [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)
2026-11-07T02:42:50Z [12,072ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-11-07T02:42:50Z [12,072ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-11-07T02:42:50Z [12,289ms] [Warning] [omni.log] Source: omni.hydra was already registered.
2026-11-07T02:42:50Z [12,716ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
2026-11-07T02:42:50Z [12,724ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2026-11-07T02:42:54Z [15,981ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
2026-11-07T02:42:54Z [16,253ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
2026-11-07T02:42:54Z [16,253ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
2026-11-07T02:42:54Z [16,254ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
2026-11-07T02:42:57Z [19,465ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
2026-11-07T02:43:00Z [21,818ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7

[INFO]: Parsing configuration from: cyclo_lab.manager_based.manipulation.reach.config.ffw_bg2.ffw_bg2_env_cfg:FFWBG2ReachEnvCfg
2026-11-07T02:43:02Z [24,198ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
[INFO]: Base environment:
	Environment device    : cuda:0
	Environment seed      : None
	Physics step-size     : 0.016666666666666666
	Rendering step-size   : 0.06666666666666667
	Environment step-size : 0.06666666666666667
2026-11-07T02:43:03Z [25,669ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_1/rear_wheel_steer_link/mesh.material:binding>: The relationship target </ffw_sg2_follower/Looks/DefaultMaterial> from </Flattened_Prototype_140/rear_wheel_steer_link/mesh.material:binding> in layer @/workspace/cyclo_lab/source/cyclo_lab/data/robots/FFW/FFW_SG2.usd@ refers to a path outside the scope of the reference from </Root/ffw_sg2_follower/rear_wheel_steer_link/visuals>.  Ignoring. (getting targets for relationship </__Prototype_1/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x1fee1200:World0.usd@ <0x2bfaf3f0>)

2026-11-07T02:43:03Z [25,670ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_2/rear_wheel_drive_link/mesh.material:binding>: The relationship target </ffw_sg2_follower/Looks/DefaultMaterial> from </Flattened_Prototype_131/rear_wheel_drive_link/mesh.material:binding> in layer @/workspace/cyclo_lab/source/cyclo_lab/data/robots/FFW/FFW_SG2.usd@ refers to a path outside the scope of the reference from </Root/ffw_sg2_follower/rear_wheel_drive_link/visuals>.  Ignoring. (getting targets for relationship </__Prototype_2/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x1fee1200:World0.usd@ <0x2bfaf3f0>)

[INFO]: Time taken for scene creation : 1.683251 seconds
[INFO]: Scene manager:  <class InteractiveScene>
	Number of environments: 16
	Environment spacing   : 10.0
	Source prim name      : /World/envs/env_0
	Global prim paths     : []
	Replicate physics     : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2026-11-07T02:43:04Z [26,559ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/envs/env_0/Robot/ffw_sg2_follower/FixedJoint
2026-11-07T02:43:05Z [27,013ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-11-07T02:43:05Z [27,027ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-11-07T02:43:06Z [28,368ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link
2026-11-07T02:43:06Z [28,368ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_9/Robot/ffw_sg2_follower/rear_wheel_steer_link/visuals/rear_wheel_steer_link
2026-11-07T02:43:08Z [29,958ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (246, 139) is below minimal input resolution of 300.
[INFO]: Time taken for simulation start : 14.128025 seconds
[INFO] Command Manager:  <CommandManager> contains 2 active terms.
+----------------------------------------+
|          Active Command Terms          |
+-------+-----------+--------------------+
| Index | Name      |        Type        |
+-------+-----------+--------------------+
|   0   | ee_pose_l | UniformPoseCommand |
|   1   | ee_pose_r | UniformPoseCommand |
+-------+-----------+--------------------+

[INFO] Event Manager:  <EventManager> contains 2 active terms.
+---------------------------------------+
|  Active Event Terms in Mode: 'reset'  |
+--------+------------------------------+
| Index  | Name                         |
+--------+------------------------------+
|   0    | reset_robot_joints           |
|   1    | reset_robot_joint_targets    |
+--------+------------------------------+
+--------------------------------------+
| Active Event Terms in Mode: 'startup' |
+---------+----------------------------+
|  Index  | Name                       |
+---------+----------------------------+
|    0    | head_tilt_from_yaml        |
+---------+----------------------------+

[INFO] Recorder Manager:  <RecorderManager> contains 0 active terms.
+---------------------+
| Active Recorder Terms |
+-----------+---------+
|   Index   | Name    |
+-----------+---------+
+-----------+---------+

[INFO] Action Manager:  <ActionManager> contains 4 active terms.
+--------------------------------------+
|   Active Action Terms (shape: 22)    |
+-------+------------------+-----------+
| Index | Name             | Dimension |
+-------+------------------+-----------+
|   0   | arm_l_action     |         7 |
|   1   | arm_r_action     |         7 |
|   2   | gripper_l_action |         4 |
|   3   | gripper_r_action |         4 |
+-------+------------------+-----------+

[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+--------------------------------------------------------+
| Active Observation Terms in Group: 'policy' (shape: (66,)) |
+------------+------------------------------+------------+
|   Index    | Name                         |   Shape    |
+------------+------------------------------+------------+
|     0      | joint_pos                    |   (15,)    |
|     1      | joint_vel                    |   (15,)    |
|     2      | pose_command_l               |    (7,)    |
|     3      | pose_command_r               |    (7,)    |
|     4      | actions                      |   (22,)    |
+------------+------------------------------+------------+

[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
+-----------------------------+
|   Active Termination Terms  |
+-------+----------+----------+
| Index | Name     | Time Out |
+-------+----------+----------+
|   0   | time_out |   True   |
+-------+----------+----------+

[INFO] Reward Manager:  <RewardManager> contains 8 active terms.
+---------------------------------------------------------------------+
|                         Active Reward Terms                         |
+-------+---------------------------------------------------+---------+
| Index | Name                                              |  Weight |
+-------+---------------------------------------------------+---------+
|   0   | end_effector_position_tracking_left               |   -0.25 |
|   1   | end_effector_position_tracking_fine_grained_left  |    0.12 |
|   2   | end_effector_orientation_tracking_left            |   -0.12 |
|   3   | end_effector_position_tracking_right              |   -0.25 |
|   4   | end_effector_position_tracking_fine_grained_right |    0.12 |
|   5   | end_effector_orientation_tracking_right           |   -0.12 |
|   6   | action_rate                                       | -0.0001 |
|   7   | joint_vel                                         | -0.0001 |
+-------+---------------------------------------------------+---------+

[INFO] Curriculum Manager:  <CurriculumManager> contains 2 active terms.
+--------------------------+
| Active Curriculum Terms  |
+---------+----------------+
|  Index  | Name           |
+---------+----------------+
|    0    | action_rate    |
|    1    | joint_vel      |
+---------+----------------+

2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,098ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,099ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,100ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,101ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,102ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,103ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,103ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
2026-11-07T02:43:18Z [40,103ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationJointReducedCoordinate::setLimitParams() only supports limit angles in range [-2Pi, 2Pi] for joints of type PxArticulationJointType::eREVOLUTE, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 294
[INFO]: Completed setting up the environment...
2026-11-07T02:43:21Z [43,136ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-11-07T02:43:22Z [44,400ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_14/Backdrop/texture_floor

[COLLECT] 16 envs, arm l, program block_pick_v1_nocomp.py sha 9f1c8b2d6170, params ['AZIMUTH_DEG', 'CLOSE_DELAY_S', 'LIFT', 'PREGRASP', 'RATE', 'TILT_DEG', 'VIA_XY', 'VIA_Z'], noise_scale 0.0, p_miss 0.0, TCP offset [-0.0, -0.0, -0.1661]
[COLLECT] batch 1: 16 ok / 0 failed so far, 16 saved, statuses {'OK': 16}, 260 s
[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 478 s
[COLLECT] batch 3: 46 ok / 2 failed so far, 48 saved, statuses {'OK': 46, 'GRASP_LOST': 2}, 694 s
[COLLECT] batch 4: 61 ok / 3 failed so far, 53 saved, statuses {'OK': 61, 'GRASP_LOST': 3}, 866 s
[COLLECT] done: 53 episodes in data_local/sim_demos/abl_visual_p032 (61 successes, 3 failures)