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abl_visual_p015/episode_0003/meta.json

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abl_visual_p015/episode_0007/meta.json

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abl_visual_p015/episode_0008/meta.json

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abl_visual_p015/episode_0012/meta.json

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abl_visual_p015/episode_0014/meta.json

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abl_visual_p015/episode_0015/meta.json

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abl_visual_p015/episode_0018/meta.json

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abl_visual_p015/episode_0020/meta.json

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abl_visual_p015/episode_0021/meta.json

@@ -0,0 +1,137 @@
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abl_visual_p015/episode_0023/meta.json

@@ -0,0 +1,167 @@
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abl_visual_p015/episode_0024/meta.json

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abl_visual_p015/episode_0029/meta.json

@@ -0,0 +1,161 @@
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abl_visual_p015/episode_0031/meta.json

@@ -0,0 +1,161 @@
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abl_visual_p015/episode_0032/meta.json

@@ -0,0 +1,154 @@
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abl_visual_p015/episode_0033/meta.json

@@ -0,0 +1,126 @@
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abl_visual_p015/episode_0035/meta.json

@@ -0,0 +1,153 @@
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abl_visual_p015/episode_0042/meta.json

@@ -0,0 +1,176 @@
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abl_visual_p015/episode_0044/meta.json

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abl_visual_p015/episode_0045/meta.json

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abl_visual_p015/episode_0046/meta.json

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abl_visual_p015/episode_0047/meta.json

@@ -0,0 +1,178 @@
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abl_visual_p015/episode_0048/meta.json

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+  {
+   "success": true,
+   "status": "OK",
+   "tag": "close",
+   "finger_q": 0.6913
+  },
+  {
+   "success": true,
+   "status": "OK",
+   "tag": "lift",
+   "err_mm": 2.0,
+   "err_deg": 0.0,
+   "ticks": 22
+  }
+ ],
+ "dr": {
+  "backdrop": {
+   "mode": "real",
+   "variant": "left_arm_left"
+  },
+  "table": {
+   "mode": "texture",
+   "texture": "Leather037",
+   "tile_m": 0.742,
+   "angle_deg": 117.5
+  },
+  "lights": {
+   "mode": "random",
+   "ceiling": [
+    {
+     "pos": [
+      3.085,
+      -0.669,
+      2.69
+     ],
+     "intensity_scale": 0.5,
+     "kelvin": 5395
+    },
+    {
+     "pos": [
+      0.268,
+      1.149,
+      2.678
+     ],
+     "intensity_scale": 0.561,
+     "kelvin": 4077
+    }
+   ],
+   "level": 0.592,
+   "dome": {
+    "intensity_scale": 1.089,
+    "kelvin": 6714
+   }
+  },
+  "cube": {
+   "mode": "random",
+   "rgb": [
+    0.287,
+    0.474,
+    0.001
+   ],
+   "roughness": 0.418
+  },
+  "spots": {
+   "count": 2,
+   "spots": [
+    {
+     "aim": [
+      0.324,
+      0.123
+     ],
+     "dist": 1.348,
+     "tilt_deg": 15.6,
+     "cone_deg": 15.1,
+     "softness": 0.32,
+     "radius": 0.019,
+     "brightness": 1.46,
+     "kelvin": 5531
+    },
+    {
+     "aim": [
+      0.46,
+      0.063
+     ],
+     "dist": 0.85,
+     "tilt_deg": 4.0,
+     "cone_deg": 9.5,
+     "softness": 0.11,
+     "radius": 0.017,
+     "brightness": 1.25,
+     "kelvin": 3065
+    }
+   ]
+  }
+ },
+ "start_pose": {
+  "arm_offset_deg": {
+   "l": [],
+   "r": []
+  },
+  "joints": [],
+  "gripper_open": 0.2332,
+  "gripper_close": 0.8253
+ },
+ "pair_key": [
+  40015,
+  4,
+  0
+ ],
+ "length": 153,
+ "fps": 15
+}

logs/abl_visual_p005.log

@@ -0,0 +1,277 @@
+[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_012052.log
+2026-11-07T01:20:52Z [552ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:52Z [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)
+2026-11-07T01:20:53Z [626ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-11-07T01:20:53Z [628ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-11-07T01:20:53Z [628ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-11-07T01:20:53Z [628ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+2026-11-07T01:20:53Z [653ms] [Warning] [gpu.foundation.plugin] [ShaderCache]: 95 percent of the driver's shadercache size limit has been reached. Max size: 4000.00 MB, Currently used: 3995.17 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.
+2026-11-07T01:20:53Z [1,190ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:53Z [1,190ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:20:54Z [2,565ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:20:54Z [2,565ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,566ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:20:54Z [2,566ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,568ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:20:54Z [2,568ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,569ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:20:54Z [2,569ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA A40
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
+2026-11-07T01:20:54Z [2,570ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA RTX A5000
+2026-11-07T01:20:54Z [2,571ms] [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: 660004
+| Total Page/Swap (MB): 7811 | Free Page/Swap: 7230
+|---------------------------------------------------------------------------------------------|
+2026-11-07T01:20:56Z [4,240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:56Z [4,240ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:20:56Z [4,268ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:56Z [4,268ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:20:56Z [4,278ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:56Z [4,278ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:20:56Z [4,287ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:56Z [4,287ms] [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)
+2026-11-07T01:20:56Z [4,288ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:56Z [4,288ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:20:56Z [4,289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-11-07T01:20:56Z [4,289ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-11-07T01:20:56Z [4,497ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+2026-11-07T01:20:57Z [4,858ms] [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.
+2026-11-07T01:20:57Z [4,867ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-11-07T01:21:00Z [8,017ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+2026-11-07T01:21:00Z [8,356ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-11-07T01:21:00Z [8,356ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-11-07T01:21:00Z [8,358ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+2026-11-07T01:21:04Z [11,638ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-11-07T01:21:06Z [14,089ms] [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
+2026-11-07T01:21:08Z [16,403ms] [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
+2026-11-07T01:21:09Z [17,513ms] [Warning] [omni.usd] Warning: in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_2/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_2/rear_wheel_steer_link/mesh.material:binding> on stage @anon:0x7756a417f5b0:World0.usd@ <0x77522afebce0>)
+
+2026-11-07T01:21:09Z [17,513ms] [Warning] [omni.usd] Warning (secondary thread): in _ReportErrors at line 3172 of /builds/omniverse/usd-ci/USD/pxr/usd/usd/stage.cpp -- In </__Prototype_1/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_1/rear_wheel_drive_link/mesh.material:binding> on stage @anon:0x7756a417f5b0:World0.usd@ <0x77522afebce0>)
+
+[INFO]: Time taken for scene creation : 1.363346 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...
+2026-11-07T01:21:10Z [18,406ms] [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
+2026-11-07T01:21:11Z [18,770ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:21:11Z [18,781ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::dictionary::IDictionary v1.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:21:12Z [19,933ms] [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
+2026-11-07T01:21:12Z [19,933ms] [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
+2026-11-07T01:21:16Z [24,453ms] [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 : 9.830949 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      |
++---------+----------------+
+
+2026-11-07T01:21:20Z [27,670ms] [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
+2026-11-07T01:21:20Z [27,670ms] [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
+2026-11-07T01:21:20Z [27,670ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,671ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,672ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,673ms] [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
+2026-11-07T01:21:20Z [27,674ms] [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
+2026-11-07T01:21:20Z [27,674ms] [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
+2026-11-07T01:21:20Z [27,674ms] [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
+2026-11-07T01:21:20Z [27,674ms] [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
+2026-11-07T01:21:20Z [27,674ms] [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
+2026-11-07T01:21:20Z [27,674ms] [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...
+2026-11-07T01:21:22Z [29,943ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-11-07T01:21:23Z [30,890ms] [Warning] [omni.fabric.plugin] Warning: attribute primvars:st:indices not found for path /World/envs/env_10/Backdrop/texture_left
+
+[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}, 299 s
+[COLLECT] batch 2: 32 ok / 0 failed so far, 32 saved, statuses {'OK': 32}, 494 s
+[COLLECT] batch 3: 48 ok / 0 failed so far, 48 saved, statuses {'OK': 48}, 698 s
+[COLLECT] batch 4: 64 ok / 0 failed so far, 50 saved, statuses {'OK': 64}, 855 s
+[COLLECT] done: 50 episodes in data_local/sim_demos/abl_visual_p005 (64 successes, 0 failures)