| cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory |
| /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_04.hdf5 |
| Setting seed: 4 |
| [INFO]: Base environment: |
| Environment device : cuda:0 |
| Environment seed : 4 |
| Physics step-size : 0.016666666666666666 |
| Rendering step-size : 0.016666666666666666 |
| Environment step-size : 0.016666666666666666 |
| [INFO]: Time taken for scene creation : 1.054290 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 : 1.452867 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 = 8 |
| [INIT_ELEV] door panels[0] = 2 |
| [INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_0 initial_x=-0.217 dir=-1.0 travel=0.433 |
| [INIT_ELEV] panel: /World/envs/env_0/Elevator/Elevator/Door/Panel_1 initial_x=0.217 dir=1.0 travel=0.433 |
| [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 = [0.4901, -0.7406, 1.13] |
| [SETUP] robot_w pos = [-0.1313, -0.7604, 0.908] yaw=0.000 |
| [SETUP] button_base = [0.6215, 0.0198, 0.222] |
| [SETUP] pre_press_b = [0.3, 0.0198, 0.332] |
| [SETUP] press_b = [0.6565, 0.0198, 0.332] |
| [SETUP] home_arm = [0.0, -1.55, 2.66, -1.1, 1.6, 0.0] |
| [SETUP] goal_pre_q = [0.707, 0.248, 2.411, -2.659, 0.863, 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=0.5000 force=0.0000 |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=41 env0 dist=0.5000 force=0.0000 |
| [GRIPPER] closed: actual=[1.0, 1.0, 1.0, 1.0] |
| [SETUP] home_tip_w = [0.03359999880194664, -0.8769000172615051, 1.2956000566482544] |
| [PHASE] approach: up to 100 steps |
| approach step= 20/100 pre_dist=0.166m tip_dist=0.473m q=[ 0.089 -1.481 2.661 -1.100 1.635 0.004] |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=81 env0 dist=0.4700 force=0.0000 |
| approach step= 40/100 pre_dist=0.130m tip_dist=0.443m q=[ 0.193 -1.386 2.644 -1.107 1.647 0.011] |
| approach step= 60/100 pre_dist=0.093m tip_dist=0.412m q=[ 0.299 -1.265 2.619 -1.119 1.635 0.020] |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=121 env0 dist=0.4148 force=0.0000 |
| approach step= 80/100 pre_dist=0.056m tip_dist=0.382m q=[ 0.401 -1.125 2.582 -1.135 1.601 0.029] |
| approach step=100/100 pre_dist=0.018m tip_dist=0.353m q=[ 0.491 -0.968 2.530 -1.155 1.550 0.040] |
| [PHASE] press (micro-thrust): up to 400 steps |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=161 env0 dist=0.3599 force=0.0000 |
| press step= 20 dist=0.3195m force=0.000N stall=0 q=[ 0.519 -0.796 2.467 -1.177 1.452 0.050] |
| press step= 40 dist=0.2827m force=0.000N stall=0 q=[ 0.535 -0.603 2.388 -1.202 1.355 0.062] |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=201 env0 dist=0.2868 force=0.0000 |
| press step= 60 dist=0.2457m force=0.000N stall=0 q=[ 0.537 -0.408 2.296 -1.228 1.274 0.073] |
| press step= 80 dist=0.2089m force=0.000N stall=0 q=[ 0.526 -0.216 2.189 -1.257 1.210 0.084] |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=241 env0 dist=0.2112 force=0.0000 |
| press step= 100 dist=0.1719m force=0.000N stall=0 q=[ 0.508 -0.031 2.071 -1.288 1.164 0.096] |
| press step= 120 dist=0.1349m force=0.000N stall=0 q=[ 0.484 0.145 1.940 -1.319 1.133 0.107] |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=281 env0 dist=0.1363 force=0.0000 |
| press step= 140 dist=0.0982m force=0.000N stall=0 q=[ 0.458 0.314 1.796 -1.351 1.115 0.119] |
| press step= 160 dist=0.0618m force=0.000N stall=0 q=[ 0.431 0.479 1.639 -1.382 1.109 0.131] |
| [AUTO_PRESS] door state=0 progress=0.000 panels=2 |
| [AUTO_PRESS] count=321 env0 dist=0.0638 force=0.0000 |
| [AUTO_PRESS] PRESS TRIGGERED env0 force=56.504N dist=0.0472 |
| [PRESSED] force-contact at step 171 force=56.504N dist=0.0425m |
| [PHASE] hold |
| [AUTO_PRESS] door state=1 progress=0.000 panels=2 |
| [AUTO_PRESS] count=361 env0 dist=0.0474 force=1.7162 |
| [PHASE] retract: up to 600 steps |
| [retract-1] button → pre-press |
| [AUTO_PRESS] door state=1 progress=0.000 panels=2 |
| [AUTO_PRESS] count=401 env0 dist=0.1151 force=0.0000 |
| [AUTO_PRESS] door state=2 progress=0.012 panels=2 |
| [AUTO_PRESS] count=441 env0 dist=0.1892 force=0.0000 |
| [AUTO_PRESS] door state=2 progress=0.245 panels=2 |
| [AUTO_PRESS] count=481 env0 dist=0.2643 force=0.0000 |
| pre-press reached at step 158 dist=0.0137m |
| [retract-2] pre-press → home |
| [AUTO_PRESS] door state=2 progress=0.478 panels=2 |
| [AUTO_PRESS] count=521 env0 dist=0.3391 force=0.0000 |
| [AUTO_PRESS] door state=2 progress=0.712 panels=2 |
| [AUTO_PRESS] count=561 env0 dist=0.3939 force=0.0000 |
| [AUTO_PRESS] door state=2 progress=0.945 panels=2 |
| [AUTO_PRESS] count=601 env0 dist=0.4535 force=0.0000 |
| home reached at step 107 dist=0.0137m |
| [PHASE] home_idle: 150 steps |
| [AUTO_PRESS] door state=3 progress=1.000 panels=2 |
| [AUTO_PRESS] count=641 env0 dist=0.5028 force=0.0000 |
| [AUTO_PRESS] door state=3 progress=1.000 panels=2 |
| [AUTO_PRESS] count=681 env0 dist=0.4998 force=0.0000 |
| [AUTO_PRESS] door state=3 progress=1.000 panels=2 |
| [AUTO_PRESS] count=721 env0 dist=0.5000 force=0.0000 |
| [AUTO_PRESS] door state=3 progress=1.000 panels=2 |
| [AUTO_PRESS] count=761 env0 dist=0.5000 force=0.0000 |
|
|
| ============================================================ |
| [RESULT] pressed : True |
| [RESULT] min_distance : 0.0425 m |
| [RESULT] final_dist : 0.5044 m |
| [RESULT] exported to : /mnt/Dataset/robotis_outputs/callbutton_demos_50_hd_v5/demo_04.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_024229.log |
| 2026-04-23T02:42:29Z [289ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-04-23T02:42:29Z [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) |
| 2026-04-23T02:42:29Z [303ms] [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: 87076 |
| | Total Page/Swap (MB): 0 | Free Page/Swap: 0 |
| |---------------------------------------------------------------------------------------------| |
| 2026-04-23T02:42:30Z [862ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0 |
| 2026-04-23T02:42:30Z [1,340ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-04-23T02:42:30Z [1,340ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) |
| 2026-04-23T02:42:30Z [1,354ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-04-23T02:42:30Z [1,354ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) |
| 2026-04-23T02:42:30Z [1,360ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-04-23T02:42:30Z [1,360ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) |
| 2026-04-23T02:42:30Z [1,366ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-04-23T02:42:30Z [1,366ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) |
| 2026-04-23T02:42:30Z [1,367ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-04-23T02:42:30Z [1,367ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) |
| 2026-04-23T02:42:30Z [1,368ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-04-23T02:42:30Z [1,368ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) |
| 2026-04-23T02:42:30Z [1,534ms] [Warning] [omni.log] Source: omni.hydra was already registered. |
| 2026-04-23T02:42:31Z [1,804ms] [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. |
| 2026-04-23T02:42:31Z [1,812ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. |
| 2026-04-23T02:42:32Z [3,500ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead |
| 2026-04-23T02:42:32Z [3,601ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' |
| 2026-04-23T02:42:32Z [3,601ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' |
| 2026-04-23T02:42:32Z [3,602ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. |
| 2026-04-23T02:42:36Z [7,185ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 |
| |
| 2026-04-23T02:42:39Z [9,791ms] [Warning] [omni.fabric.plugin] getAttributeCount called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 |
| 2026-04-23T02:42:39Z [9,791ms] [Warning] [omni.fabric.plugin] getTypes called on non-existent path /World/envs/env_0/Robot/OMY/link3/collisions/mesh_0 |
| 2026-04-23T02:42:41Z [12,495ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Annotators' for removal |
| 2026-04-23T02:46:10Z [220,960ms] [Warning] [omni.graph.core.plugin] Could not find category 'Replicator:Core' for removal |
| 2026-04-23T02:46:10Z [220,963ms] [Warning] [omni.physx.plugin] USD stage detach not called, holding a loose ptr to a stage! |
| 2026-04-23T02:46:10Z [221,035ms] [Warning] [omni.fabric.plugin] gFabricState->gUsdStageToSimStageWithHistoryMap had 1 outstanding SimStageWithHistory(s) at shutdown |
| 2026-04-23T02:46:10Z [221,122ms] [Warning] [carb] Recursive unloadAllPlugins() detected! |
| |
