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_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: 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: contains 0 active terms. +------------------------+ | Active Command Terms | +--------+-------+-------+ | Index | Name | Type | +--------+-------+-------+ +--------+-------+-------+ [INFO] Event Manager: 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: 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: contains 2 active terms. +------------------------------------+ | Active Action Terms (shape: 7) | +-------+----------------+-----------+ | Index | Name | Dimension | +-------+----------------+-----------+ | 0 | arm_action | 6 | | 1 | gripper_action | 1 | +-------+----------------+-----------+ [INFO] Observation Manager: 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: contains 2 active terms. +-----------------------------+ | Active Termination Terms | +-------+----------+----------+ | Index | Name | Time Out | +-------+----------+----------+ | 0 | time_out | True | | 1 | success | False | +-------+----------+----------+ [INFO] Reward Manager: contains 1 active terms. +----------------------------------+ | Active Reward Terms | +-------+----------------+---------+ | Index | Name | Weight | +-------+----------------+---------+ | 0 | action_rate_l2 | -0.0001 | +-------+----------------+---------+ [INFO] Curriculum Manager: 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: ), 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!