[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: ), 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 : The relationship target from 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 . Ignoring. (getting targets for relationship 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 : The relationship target from 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 . Ignoring. (getting targets for relationship on stage @anon:0x7756a417f5b0:World0.usd@ <0x77522afebce0>) [INFO]: Time taken for scene creation : 1.363346 seconds [INFO]: Scene manager: 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: contains 2 active terms. +----------------------------------------+ | Active Command Terms | +-------+-----------+--------------------+ | Index | Name | Type | +-------+-----------+--------------------+ | 0 | ee_pose_l | UniformPoseCommand | | 1 | ee_pose_r | UniformPoseCommand | +-------+-----------+--------------------+ [INFO] Event Manager: 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: contains 0 active terms. +---------------------+ | Active Recorder Terms | +-----------+---------+ | Index | Name | +-----------+---------+ +-----------+---------+ [INFO] Action Manager: 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: 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: contains 1 active terms. +-----------------------------+ | Active Termination Terms | +-------+----------+----------+ | Index | Name | Time Out | +-------+----------+----------+ | 0 | time_out | True | +-------+----------+----------+ [INFO] Reward Manager: 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: 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)