Isaac Sim Version
sim5.0
Operating System
ubuntu 22.04
GPU Information
- Model:rtx 3090
- Driver Version:cuda 12.9
Topic Description
Detailed Description
After downloading the Isaac Sim assets locally and completing the configuration, I can open Isaac Sim offline. Then I copy the required USD files into the Isaac Lab Docker container and modify the path in the robot configuration file to point to the Isaac Sim assets file path within the Docker container.But it keeps reporting errors. May I ask how I should modify it?
I modified the configuration file at：isaac-lab/isaac-lab/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place
class ObjectTableSceneCfg(InteractiveSceneCfg):
# Table
packing_table = AssetBaseCfg(
prim_path="/World/envs/env_.*/PackingTable",
init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55,0], rot=[1.0, 0.0, 0.0, 0.0]),
spawn=UsdFileCfg(
usd_path=f"/workspace/isaaclab/isaacsim_assets/Assets/Isaac/5.0/Isaac/Props/PackingTable/packing_table.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
),
)
object = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Object",
init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.45, 0.45, 0.9996], rot=[1, 0, 0, 0]),
spawn=UsdFileCfg(
usd_path=f"/workspace/isaaclab/isaacsim_assets/Assets/Isaac/5.0/Isaac/IsaacLab/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
scale=(0.75, 0.75, 0.75),
rigid_props=sim_utils.RigidBodyPropertiesCfg(),
),
)
Error Messages
2025-09-22T02:24:30Z [170,910ms] [Error] [main] Failed to create environment: Python argument types in
Stage.GetPrimAtPath(Stage, NoneType)
did not match C++ signature:
GetPrimAtPath(pxrInternal_v0_24__pxrReserved__::UsdStage {lvalue}, pxrInternal_v0_24__pxrReserved__::SdfPath path) was raised from the environment creator for Isaac-PickPlace-ROBOT-Abs-v0 with kwargs ({‘env_cfg_entry_point’: <class ‘isaaclab_tasks.manager_based.manipulation.pick_place.pickplace_robot_env_cfg.PickPlaceROBOTEnvCfg’>, ‘robomimic_bc_cfg_entry_point’: ‘/workspace/isaaclab/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/agents/robomimic/bc_rnn_low_dim.json’, ‘cfg’: PickPlaceROBOTEnvCfg(viewer=ViewerCfg(eye=(7.5, 7.5, 7.5), lookat=(0.0, 0.0, 0.0), cam_prim_path=‘/OmniverseKit_Persp’, resolution=(1280, 720), origin_type=‘world’, env_index=0, asset_name=None, body_name=None), sim=SimulationCfg(physics_prim_path=‘/physicsScene’, device=‘cpu’, dt=0.008333333333333333, render_interval=2, gravity=(0.0, 0.0, -9.81), enable_scene_query_support=True, use_fabric=True, physx=PhysxCfg(solver_type=1, min_position_iteration_count=1, max_position_iteration_count=255, min_velocity_iteration_count=0, max_velocity_iteration_count=255, enable_ccd=False, enable_stabilization=False, enable_enhanced_determinism=False, bounce_threshold_velocity=0.5, friction_offset_threshold=0.04, friction_correlation_distance=0.025, gpu_max_rigid_contact_count=8388608, gpu_max_rigid_patch_count=163840, gpu_found_lost_pairs_capacity=2097152, gpu_found_lost_aggregate_pairs_capacity=33554432, gpu_total_aggregate_pairs_capacity=2097152, gpu_collision_stack_size=67108864, gpu_heap_capacity=67108864, gpu_temp_buffer_capacity=16777216, gpu_max_num_partitions=8, gpu_max_soft_body_contacts=1048576, gpu_max_particle_contacts=1048576), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x7849018d3420>, static_friction=0.5, dynamic_friction=0.5, restitution=0.0, friction_combine_mode=‘average’, restitution_combine_mode=‘average’, compliant_contact_stiffness=0.0, compliant_contact_damping=0.0), render=RenderCfg(enable_translucency=None, enable_reflections=None, enable_global_illumination=None, antialiasing_mode=‘DLSS’, enable_dlssg=None, enable_dl_denoiser=None, dlss_mode=None, enable_direct_lighting=None, samples_per_pixel=None, enable_shadows=None, enable_ambient_occlusion=None, carb_settings=None, rendering_mode=None), create_stage_in_memory=False), ui_window_class_type=<class ‘isaaclab.envs.ui.manager_based_rl_env_window.ManagerBasedRLEnvWindow’>, seed=None, decimation=6, scene=ObjectTableSceneCfg(num_envs=1, env_spacing=2.5, lazy_sensor_update=True, replicate_physics=True, filter_collisions=True, clone_in_fabric=False, robot=ArticulationCfg(class_type=<class ‘isaaclab.assets.articulation.articulation.Articulation’>, prim_path=‘/World/envs/env_./Robot’, spawn=UsdFileCfg(func=<function spawn_from_usd at 0x7849018d2ac0>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=RigidBodyPropertiesCfg(rigid_body_enabled=None, kinematic_enabled=None, disable_gravity=True, linear_damping=0.0, angular_damping=0.0, max_linear_velocity=1000.0, max_angular_velocity=1000.0, max_depenetration_velocity=1.0, max_contact_impulse=None, enable_gyroscopic_forces=None, retain_accelerations=False, solver_position_iteration_count=None, solver_velocity_iteration_count=None, sleep_threshold=None, stabilization_threshold=None), collision_props=None, activate_contact_sensors=True, scale=None, articulation_props=ArticulationRootPropertiesCfg(articulation_enabled=None, enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=4, sleep_threshold=None, stabilization_threshold=None, fix_root_link=None), fixed_tendons_props=None, spatial_tendons_props=None, joint_drive_props=None, visual_material_path=‘material’, visual_material=None, usd_path=‘/workspace/isaaclab/nezha1/urdf/urdf-2/robot.usd’, variants=None), init_state=ArticulationCfg.InitialStateCfg(pos=(0, 0, 0), rot=(0.7071, 0, 0, 0.7071), lin_vel=(0.0, 0.0, 0.0), ang_vel=(0.0, 0.0, 0.0), joint_pos={‘right_arm_joint1’: 0.0, ‘right_arm_joint2’: 0.0, ‘right_arm_joint3’: 0.0, ‘right_arm_joint4’: 1.5708, ‘right_arm_joint5’: 0.0, ‘right_arm_joint6’: 0.0, ‘left_arm_joint1’: 0.0, ‘left_arm_joint2’: 0.0, ‘left_arm_joint3’: 0.0, ‘left_arm_joint4’: -1.5708, ‘left_arm_joint5’: 0.0, ‘left_arm_joint6’: 0.0, 'head_.’: 0.0, ‘waist_.': 0.0, 'leg_.’: 0.0, ‘left_arm_gripper_.': 0.0, 'right_arm_gripper_.’: 0.0}, joint_vel={‘.': 0.0}), collision_group=0, debug_vis=False, articulation_root_prim_path=None, soft_joint_pos_limit_factor=1.0, actuators={‘trunk’: ImplicitActuatorCfg(class_type=<class ‘isaaclab.actuators.actuator_pd.ImplicitActuator’>, joint_names_expr=['waist_.’], effort_limit=None, velocity_limit=None, effort_limit_sim=None, velocity_limit_sim=None, stiffness=4400, damping=40.0, armature=0.01, friction=None, dynamic_friction=None, viscous_friction=None), ‘right-arm’: ImplicitActuatorCfg(class_type=<class ‘isaaclab.actuators.actuator_pd.ImplicitActuator’>, joint_names_expr=[‘right_arm_joint.'], effort_limit=None, velocity_limit=None, effort_limit_sim=None, velocity_limit_sim=None, stiffness=4400.0, damping=40.0, armature=0.01, friction=None, dynamic_friction=None, viscous_friction=None), ‘left-arm’: ImplicitActuatorCfg(class_type=<class ‘isaaclab.actuators.actuator_pd.ImplicitActuator’>, joint_names_expr=['left_arm_joint.’], effort_limit=None, velocity_limit=None, effort_limit_sim=None, velocity_limit_sim=None, stiffness=4400.0, damping=40.0, armature=0.01, friction=None, dynamic_friction=None, viscous_friction=None), ‘right-hand’: ImplicitActuatorCfg(class_type=<class ‘isaaclab.actuators.actuator_pd.ImplicitActuator’>, joint_names_expr=[‘right_arm_gripper_.'], effort_limit=None, velocity_limit=None, effort_limit_sim=None, velocity_limit_sim=None, stiffness=None, damping=None, armature=None, friction=None, dynamic_friction=None, viscous_friction=None), ‘left-hand’: ImplicitActuatorCfg(class_type=<class ‘isaaclab.actuators.actuator_pd.ImplicitActuator’>, joint_names_expr=['left_arm_gripper_.’], effort_limit=None, velocity_limit=None, effort_limit_sim=None, velocity_limit_sim=None, stiffness=None, damping=None, armature=None, friction=None, dynamic_friction=None, viscous_friction=None)}, actuator_value_resolution_debug_print=False), packing_table=AssetBaseCfg(class_type=None, prim_path=‘/World/envs/env_./PackingTable’, spawn=UsdFileCfg(func=<function spawn_from_usd at 0x7849018d2ac0>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=RigidBodyPropertiesCfg(rigid_body_enabled=None, kinematic_enabled=True, disable_gravity=None, linear_damping=None, angular_damping=None, max_linear_velocity=None, max_angular_velocity=None, max_depenetration_velocity=None, max_contact_impulse=None, enable_gyroscopic_forces=None, retain_accelerations=None, solver_position_iteration_count=None, solver_velocity_iteration_count=None, sleep_threshold=None, stabilization_threshold=None), collision_props=None, activate_contact_sensors=False, scale=None, articulation_props=None, fixed_tendons_props=None, spatial_tendons_props=None, joint_drive_props=None, visual_material_path=‘material’, visual_material=None, usd_path=‘/workspace/isaaclab/isaacsim_assets/Assets/Isaac/5.0/Isaac/Props/PackingTable/packing_table.usd’, variants=None), init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, 0], rot=[1.0, 0.0, 0.0, 0.0]), collision_group=0, debug_vis=False), object=RigidObjectCfg(class_type=<class ‘isaaclab.assets.rigid_object.rigid_object.RigidObject’>, prim_path='/World/envs/env_./Object’, spawn=UsdFileCfg(func=<function spawn_from_usd at 0x7849018d2ac0>, visible=True, semantic_tags=None, copy_from_source=True, mass_props=None, deformable_props=None, rigid_props=RigidBodyPropertiesCfg(rigid_body_enabled=None, kinematic_enabled=None, disable_gravity=None, linear_damping=None, angular_damping=None, max_linear_velocity=None, max_angular_velocity=None, max_depenetration_velocity=None, max_contact_impulse=None, enable_gyroscopic_forces=None, retain_accelerations=None, solver_position_iteration_count=None, solver_velocity_iteration_count=None, sleep_threshold=None, stabilization_threshold=None), collision_props=None, activate_contact_sensors=False, scale=(0.75, 0.75, 0.75), articulation_props=None, fixed_tendons_props=None, spatial_tendons_props=None, joint_drive_props=None, visual_material_path=‘material’, visual_material=None, usd_path=‘/workspace/isaaclab/isaacsim_assets/Assets/Isaac/5.0/Isaac/IsaacLab/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd’, variants=None), init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.45, 0.45, 0.9996], rot=[1, 0, 0, 0], lin_vel=(0.0, 0.0, 0.0), ang_vel=(0.0, 0.0, 0.0)), collision_group=0, debug_vis=False), ground=AssetBaseCfg(class_type=None, prim_path=‘/World/GroundPlane’, spawn=GroundPlaneCfg(func=<function spawn_ground_plane at 0x7849018d2ca0>, visible=True, semantic_tags=None, copy_from_source=True, usd_path=‘https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Environments/Grid/default_environment.usd’, color=(0.0, 0.0, 0.0), size=(100.0, 100.0), physics_material=RigidBodyMaterialCfg(func=<function spawn_rigid_body_material at 0x7849018d3420>, static_friction=0.5, dynamic_friction=0.5, restitution=0.0, friction_combine_mode=‘average’, restitution_combine_mode=‘average’, compliant_contact_stiffness=0.0, compliant_contact_damping=0.0)), init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), collision_group=0, debug_vis=False), light=AssetBaseCfg(class_type=None, prim_path=‘/World/light’, spawn=DomeLightCfg(func=<function spawn_light at 0x78490171d300>, visible=True, semantic_tags=None, copy_from_source=True, prim_type=‘DomeLight’, color=(0.75, 0.75, 0.75), enable_color_temperature=False, color_temperature=6500.0, normalize=False, exposure=0.0, intensity=3000.0, texture_file=None, texture_format=‘automatic’, visible_in_primary_ray=True), init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), collision_group=0, debug_vis=False)), recorders=RecorderManagerBaseCfg(dataset_file_handler_class_type=<class ‘isaaclab.utils.datasets.hdf5_dataset_file_handler.HDF5DatasetFileHandler’>, dataset_export_dir_path=‘/tmp/isaaclab/logs’, dataset_filename=‘dataset’, dataset_export_mode=<DatasetExportMode.EXPORT_ALL: 1>, export_in_record_pre_reset=True), observations=ObservationsCfg(policy=ObservationsCfg.PolicyCfg(concatenate_terms=False, concatenate_dim=-1, enable_corruption=False, history_length=None, flatten_history_dim=True, actions=ObservationTermCfg(func=<function last_action at 0x7849005fe840>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), robot_joint_pos=ObservationTermCfg(func=<function joint_pos at 0x7849005fd940>, params={‘asset_cfg’: SceneEntityCfg(name=‘robot’, joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), robot_root_pos=ObservationTermCfg(func=<function root_pos_w at 0x7849005fd1c0>, params={‘asset_cfg’: SceneEntityCfg(name=‘robot’, joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), robot_root_rot=ObservationTermCfg(func=<function root_quat_w at 0x7849005fd300>, params={‘asset_cfg’: SceneEntityCfg(name=‘robot’, joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), object_pos=ObservationTermCfg(func=<function root_pos_w at 0x7849005fd1c0>, params={‘asset_cfg’: SceneEntityCfg(name=‘object’, joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), object_rot=ObservationTermCfg(func=<function root_quat_w at 0x7849005fd300>, params={‘asset_cfg’: SceneEntityCfg(name=‘object’, joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), robot_links_state=ObservationTermCfg(func=<function get_all_robot_link_state at 0x7849c310ee80>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), left_eef_pos=ObservationTermCfg(func=<function ObservationsCfg.PolicyCfg. at 0x784b23ab6340>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), left_eef_quat=ObservationTermCfg(func=<function ObservationsCfg.PolicyCfg. at 0x784b23ab6020>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), right_eef_pos=ObservationTermCfg(func=<function ObservationsCfg.PolicyCfg. at 0x784b23ab5f80>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), right_eef_quat=ObservationTermCfg(func=<function ObservationsCfg.PolicyCfg. at 0x784b23ab5ee0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), hand_joint_state=ObservationTermCfg(func=<function get_hand_state at 0x7849c310efc0>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), head_joint_state=ObservationTermCfg(func=<function ObservationsCfg.PolicyCfg. at 0x784b23ab5e40>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True), object=ObservationTermCfg(func=<function ObservationsCfg.PolicyCfg. at 0x784b23ab6c00>, params={}, modifiers=None, noise=None, clip=None, scale=None, history_length=0, flatten_history_dim=True))), actions=ActionsCfg(pink_ik_cfg=PinkInverseKinematicsActionCfg(class_type=<class ‘isaaclab.envs.mdp.actions.pink_task_space_actions.PinkInverseKinematicsAction’>, asset_name=‘robot’, debug_vis=False, clip=None, pink_controlled_joint_names=[‘left_arm_joint1’, ‘left_arm_joint2’, ‘left_arm_joint3’, ‘left_arm_joint4’, ‘left_arm_joint5’, ‘left_arm_joint6’, ‘right_arm_joint1’, ‘right_arm_joint2’, ‘right_arm_joint3’, ‘right_arm_joint4’, ‘right_arm_joint5’, ‘right_arm_joint6’, ‘leg_joint1’, ‘leg_joint2’, ‘leg_joint3’, ‘waist_joint’, ‘head_joint1’, ‘head_joint2’, ‘left_arm_gripper_l_joint’, ‘left_arm_gripper_r_joint’, ‘right_arm_gripper_l_joint’, ‘right_arm_gripper_r_joint’], ik_urdf_fixed_joint_names=[‘leg_joint1’, ‘leg_joint2’, ‘leg_joint3’, ‘head_joint1’, ‘head_joint2’, ‘waist_joint’], hand_joint_names=[‘left_arm_gripper_l_joint’, ‘left_arm_gripper_r_joint’, ‘right_arm_gripper_l_joint’, ‘right_arm_gripper_r_joint’], controller=PinkIKControllerCfg(urdf_path=‘/tmp/urdf/robot.urdf’, mesh_path=‘/tmp/meshes’, num_hand_joints=4, variable_input_tasks=[FrameTask(frame=urdf_2_left_arm_gripper_l_link, gain=0.5, orientation_cost=[1. 1. 1.], position_cost=[8. 8. 8.], transform_target_to_world=None), FrameTask(frame=urdf_2_right_arm_gripper_r_link, gain=0.5, orientation_cost=[1. 1. 1.], position_cost=[8. 8. 8.], transform_target_to_world=None), DampingTask(cost=0.5), NullSpacePostureTask(cost=0.5, gain=1.0, lm_damping=1, controlled_frames=[‘urdf_2_left_arm_gripper_l_link’, ‘urdf_2_right_arm_gripper_r_link’], controlled_joints=[‘left_arm_joint1’, ‘left_arm_joint2’, ‘left_arm_joint3’, ‘left_arm_joint4’, ‘left_arm_joint5’, ‘left_arm_joint6’, ‘right_arm_joint1’, ‘right_arm_joint2’, ‘right_arm_joint3’, ‘right_arm_joint4’, ‘right_arm_joint5’, ‘right_arm_joint6’])], fixed_input_tasks=, joint_names=None, articulation_name=‘robot’, base_link_name=‘AGV_link’, show_ik_warnings=False, fail_on_joint_limit_violation=False), target_eef_link_names={‘left_wrist’: ‘urdf_2_left_arm_gripper_l_link’, ‘right_wrist’: ‘urdf_2_right_arm_gripper_r_link’})), events=EventCfg(reset_all=EventTermCfg(func=<function reset_scene_to_default at 0x7849005fc400>, params={}, mode=‘reset’, interval_range_s=None, is_global_time=False, min_step_count_between_reset=0), reset_object=EventTermCfg(func=<function reset_root_state_uniform at 0x7849005fc040>, params={‘pose_range’: {‘x’: [-0.01, 0.01], ‘y’: [-0.01, 0.01]}, ‘velocity_range’: {}, ‘asset_cfg’: SceneEntityCfg(name=‘object’, joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, mode=‘reset’, interval_range_s=None, is_global_time=False, min_step_count_between_reset=0)), rerender_on_reset=False, wait_for_textures=True, xr=XrCfg(anchor_pos=(0.0, 0.0, 0.0), anchor_rot=(1.0, 0.0, 0.0, 0.0), near_plane=0.15), teleop_devices=DevicesCfg(devices={‘handtracking’: OpenXRDeviceCfg(sim_device=‘cuda:0’, retargeters=[Se3AbsRetargeterCfg(sim_device=‘cuda:0’, zero_out_xy_rotation=True, use_wrist_rotation=False, use_wrist_position=True, enable_visualization=False, bound_hand=<TrackingTarget.HAND_LEFT: 0>), GripperRetargeterCfg(sim_device=‘cuda:0’, bound_hand=<TrackingTarget.HAND_LEFT: 0>)], xr_cfg=XrCfg(anchor_pos=(0.0, 0.0, 0.0), anchor_rot=(1.0, 0.0, 0.0, 0.0), near_plane=0.15))}), export_io_descriptors=False, io_descriptors_output_dir=None, is_finite_horizon=False, episode_length_s=20.0, rewards=None, terminations=TerminationsCfg(time_out=None, object_dropping=TerminationTermCfg(func=<function root_height_below_minimum at 0x78490062dda0>, params={‘minimum_height’: 0.5, ‘asset_cfg’: SceneEntityCfg(name=‘object’, joint_names=None, joint_ids=slice(None, None, None), fixed_tendon_names=None, fixed_tendon_ids=slice(None, None, None), body_names=None, body_ids=slice(None, None, None), object_collection_names=None, object_collection_ids=slice(None, None, None), preserve_order=False)}, time_out=False), success=TerminationTermCfg(func=<function task_done_pick_place at 0x7849c310e7a0>, params={}, time_out=False)), curriculum=None, commands=None, NUM_OPENXR_HAND_JOINTS=2, temp_urdf_dir=‘/tmp’, idle_action=tensor([-0.2288, 0.2536, 1.0953, 0.5000, 0.5000, -0.5000, 0.5000, 0.2288,
0.2536, 1.0953, 0.5000, 0.5000, -0.5000, 0.5000, 0.0000, 0.0000,
0.0000, 0.0000]))})