File size: 18,829 Bytes
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/workspace/robotis_lab/scripts/my_codes/diffik_teacher_jointpos.py:323: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:254.)
pre_press_w_t = torch.tensor([pre_press_w], dtype=torch.float32, device=device)
[INFO][AppLauncher]: Using device: cuda:0
[INFO][AppLauncher]: Loading experience file: /workspace/robotis_lab/third_party/IsaacLab/apps/isaaclab.python.headless.rendering.kit
[INFO]: Parsing configuration from: robotis_lab.simulation_tasks.manager_based.OMY.elevator_call.joint_pos_env_cfg:OMYElevatorCallEnvCfg
[SETUP] will export on success → /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_14.hdf5
Setting seed: 14
[INFO]: Base environment:
Environment device : cuda:0
Environment seed : 14
Physics step-size : 0.016666666666666666
Rendering step-size : 0.016666666666666666
Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 1.299115 seconds
[INFO]: Scene manager: <class InteractiveScene>
Number of environments: 1
Environment spacing : 3.0
Source prim name : /World/envs/env_0
Global prim paths : ['/World/GroundPlane']
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
[INFO]: Time taken for simulation start : 1.483767 seconds
[INFO] Command Manager: <CommandManager> contains 0 active terms.
+------------------------+
| Active Command Terms |
+--------+-------+-------+
| Index | Name | Type |
+--------+-------+-------+
+--------+-------+-------+
[INFO] Event Manager: <EventManager> contains 3 active terms.
+----------------------------------------+
| Active Event Terms in Mode: 'startup' |
+---------+------------------------------+
| Index | Name |
+---------+------------------------------+
| 0 | robot_physics_material |
| 1 | init_elevator |
+---------+------------------------------+
+--------------------------------------+
| Active Event Terms in Mode: 'reset' |
+--------+-----------------------------+
| Index | Name |
+--------+-----------------------------+
| 0 | reset_all |
| 1 | randomize_elevator_pose |
| 2 | reset_robot_at_hall_side |
+--------+-----------------------------+
+-----------------------------------------------------+
| Active Event Terms in Mode: 'interval' |
+-------+-------------------+-------------------------+
| Index | Name | Interval time range (s) |
+-------+-------------------+-------------------------+
| 0 | auto_press_button | (0.0, 0.0) |
+-------+-------------------+-------------------------+
[INFO] Recorder Manager: <RecorderManager> contains 5 active terms.
+--------------------------------------------------+
| Active Recorder Terms |
+-------+------------------------------------------+
| Index | Name |
+-------+------------------------------------------+
| 0 | record_initial_state |
| 1 | record_post_step_states |
| 2 | record_pre_step_actions |
| 3 | record_pre_step_flat_policy_observations |
| 4 | record_post_step_processed_actions |
+-------+------------------------------------------+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
+------------------------------------+
| Active Action Terms (shape: 7) |
+-------+----------------+-----------+
| Index | Name | Dimension |
+-------+----------------+-----------+
| 0 | arm_action | 6 |
| 1 | gripper_action | 1 |
+-------+----------------+-----------+
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+-------------------------------------------------------+
| Active Observation Terms in Group: 'policy' |
+-------+-----------------------------+-----------------+
| Index | Name | Shape |
+-------+-----------------------------+-----------------+
| 0 | joint_pos | (10,) |
| 1 | joint_vel | (10,) |
| 2 | eef_pos | (3,) |
| 3 | eef_quat | (4,) |
| 4 | call_button_pos | (3,) |
| 5 | rel_ee_call_button_distance | (3,) |
| 6 | actions | (7,) |
| 7 | cam_wrist | (1200, 1920, 3) |
| 8 | cam_top | (1200, 1920, 3) |
| 9 | call_button_lit | (1,) |
| 10 | cam_belly | (1200, 1920, 3) |
+-------+-----------------------------+-----------------+
[INFO] Termination Manager: <TerminationManager> contains 2 active terms.
+-----------------------------+
| Active Termination Terms |
+-------+----------+----------+
| Index | Name | Time Out |
+-------+----------+----------+
| 0 | time_out | True |
| 1 | success | False |
+-------+----------+----------+
[INFO] Reward Manager: <RewardManager> contains 1 active terms.
+----------------------------------+
| Active Reward Terms |
+-------+----------------+---------+
| Index | Name | Weight |
+-------+----------------+---------+
| 0 | action_rate_l2 | -0.0001 |
+-------+----------------+---------+
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
+----------------------+
| Active Curriculum Terms |
+-----------+----------+
| Index | Name |
+-----------+----------+
+-----------+----------+
[INIT_ELEV] creating Elevator instance...
[INIT_ELEV] done. btn_infos[0] len = 16
[INIT_ELEV] door panels[0] = 2
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.222 dir=-1.0 travel=0.444
[INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.222 dir=1.0 travel=0.444
[INFO]: Completed setting up the environment...
[SETUP] arm_limits = [[-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055], [-6.2829999923706055, 6.2829999923706055]]
[SETUP] button_w = [0.4418, -0.7422, 1.13]
[SETUP] robot_w pos = [-0.109, -0.7232, 0.908] yaw=0.000
[SETUP] button_base = [0.5508, -0.019, 0.222]
[SETUP] pre_press_b = [0.3, -0.019, 0.332]
[SETUP] press_b = [0.5858, -0.019, 0.332]
[SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0]
[SETUP] goal_pre_q = [0.511, 0.248, 2.411, -2.659, 1.059, 0.0] ik_err=0.0000m
[PHASE] gripper close
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=1 env0 dist=0.4276 force=0.0000
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=41 env0 dist=0.4276 force=0.0000
[GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0]
[SETUP] home_tip_w = [0.05590000003576279, -0.8396000266075134, 1.2956000566482544]
[PHASE] approach: up to 100 steps
approach step= 20/100 pre_dist=0.141m tip_dist=0.397m q=[ 0.090 -1.464 2.658 -1.101 1.614 0.005]
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=81 env0 dist=0.3948 force=0.0000
approach step= 40/100 pre_dist=0.106m tip_dist=0.365m q=[ 0.190 -1.352 2.638 -1.110 1.604 0.013]
approach step= 60/100 pre_dist=0.068m tip_dist=0.332m q=[ 0.290 -1.217 2.608 -1.124 1.570 0.023]
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=121 env0 dist=0.3341 force=0.0000
approach step= 80/100 pre_dist=0.031m tip_dist=0.299m q=[ 0.383 -1.063 2.565 -1.141 1.517 0.033]
[APPROACH DONE] reached pre-press at step 89 dist_to_pre=0.0144m
[PHASE] press (micro-thrust): up to 400 steps
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=161 env0 dist=0.2717 force=0.0000
press step= 20 dist=0.2531m force=0.000N stall=0 q=[ 0.450 -0.824 2.487 -1.168 1.397 0.048]
press step= 40 dist=0.2164m force=0.000N stall=0 q=[ 0.472 -0.628 2.415 -1.190 1.302 0.060]
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=201 env0 dist=0.1957 force=0.0000
press step= 60 dist=0.1794m force=0.000N stall=0 q=[ 0.479 -0.426 2.327 -1.214 1.223 0.072]
press step= 80 dist=0.1425m force=0.000N stall=0 q=[ 0.472 -0.228 2.224 -1.241 1.163 0.083]
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=241 env0 dist=0.1211 force=0.0000
press step= 100 dist=0.1055m force=0.000N stall=0 q=[ 0.455 -0.038 2.107 -1.270 1.120 0.095]
press step= 120 dist=0.0685m force=0.000N stall=0 q=[ 0.432 0.143 1.978 -1.301 1.093 0.107]
[AUTO_PRESS] door state=0 progress=0.000 panels=2
[AUTO_PRESS] count=281 env0 dist=0.0489 force=0.0000
[AUTO_PRESS] PRESS TRIGGERED env0 force=76.241N dist=0.0464
[PRESSED] force-contact at step 135 force=76.241N dist=0.0422m
[PHASE] hold
[PHASE] retract: up to 600 steps
[retract-1] button → pre-press
[AUTO_PRESS] door state=1 progress=0.000 panels=2
[AUTO_PRESS] count=321 env0 dist=0.0569 force=0.0000
[AUTO_PRESS] door state=2 progress=0.169 panels=2
[AUTO_PRESS] count=361 env0 dist=0.1291 force=0.0000
[AUTO_PRESS] door state=2 progress=0.403 panels=2
[AUTO_PRESS] count=401 env0 dist=0.2038 force=0.0000
pre-press reached at step 122 dist=0.0135m
[retract-2] pre-press → home
[AUTO_PRESS] door state=2 progress=0.636 panels=2
[AUTO_PRESS] count=441 env0 dist=0.2768 force=0.0000
[AUTO_PRESS] door state=2 progress=0.869 panels=2
[AUTO_PRESS] count=481 env0 dist=0.3393 force=0.0000
[AUTO_PRESS] door state=3 progress=1.000 panels=2
[AUTO_PRESS] count=521 env0 dist=0.4049 force=0.0000
home reached at step 94 dist=0.0146m
[PHASE] home_idle: 150 steps
[AUTO_PRESS] door state=3 progress=1.000 panels=2
[AUTO_PRESS] count=561 env0 dist=0.4285 force=0.0000
[AUTO_PRESS] door state=3 progress=1.000 panels=2
[AUTO_PRESS] count=601 env0 dist=0.4275 force=0.0000
[AUTO_PRESS] door state=3 progress=1.000 panels=2
[AUTO_PRESS] count=641 env0 dist=0.4276 force=0.0000
============================================================
[RESULT] pressed : True
[RESULT] min_distance : 0.0422 m
[RESULT] final_dist : 0.4311 m
[RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_14.hdf5
============================================================
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_20260423_032102.log
2026-04-23T03:21:02Z [295ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-04-23T03:21:02Z [295ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-04-23T03:21:02Z [309ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
|---------------------------------------------------------------------------------------------|
| Driver Version: 580.126.09 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA RTX PRO 6000 Blackwell .. | Yes: 0 | | 97887 MB | 10de | 0 |
| | | | | | 2bb5 | 71edab28.. |
| | | | | | 4 | |
|=============================================================================================|
| OS: 24.04.2 LTS (Noble Numbat) ubuntu, Version: 24.04.2, Kernel: 6.8.0-100-generic
| Processor: AMD EPYC 9555 64-Core Processor
| Cores: 30 | Logical Cores: 30
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 90484 | Free Memory: 87105
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-04-23T03:21:03Z [823ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
2026-04-23T03:21:03Z [1,222ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-04-23T03:21:03Z [1,222ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-04-23T03:21:03Z [1,235ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-04-23T03:21:03Z [1,235ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-04-23T03:21:03Z [1,240ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-04-23T03:21:03Z [1,240ms] [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)
2026-04-23T03:21:03Z [1,245ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-04-23T03:21:03Z [1,245ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-04-23T03:21:03Z [1,246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-04-23T03:21:03Z [1,246ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-04-23T03:21:03Z [1,246ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-04-23T03:21:03Z [1,246ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
2026-04-23T03:21:03Z [1,379ms] [Warning] [omni.log] Source: omni.hydra was already registered.
2026-04-23T03:21:04Z [1,589ms] [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.
2026-04-23T03:21:04Z [1,594ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2026-04-23T03:21:05Z [3,211ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
2026-04-23T03:21:05Z [3,314ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
2026-04-23T03:21:05Z [3,314ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
2026-04-23T03:21:05Z [3,315ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
2026-04-23T03:21:09Z [6,890ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7
2026-04-23T03:21:12Z [9,824ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
2026-04-23T03:21:12Z [9,824ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0
2026-04-23T03:21:14Z [12,552ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal
2026-04-23T03:24:03Z [181,328ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal
2026-04-23T03:24:03Z [181,331ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage!
2026-04-23T03:24:03Z [181,406ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown
2026-04-23T03:24:03Z [181,508ms] [Warning] [carb] Recursive unloadAllPlugins() detected!
|