# Runtime Warnings & Errors Analysis

Pipeline: `python launcher.py --config configs/simbox/de_plan_and_render_template.yaml`
Environment: IS 5.0.0, RTX PRO 6000 Blackwell, conda `banana500`
Date: 2026-04-03

---

## Errors

### 1. PhysicsUSD: triangle mesh collision on dynamic body

```
[Error] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplification)
cannot be a part of a dynamic body, falling back to convexHull approximation:
/World/task_0/split_aloha/.../lifting_link/collisions
```

**Severity:** Medium (PhysX auto-fallback, but logs error every reset)
**Root cause:** Robot USD `lifting_link/collisions` mesh 使用 `meshSimplification` 碰撞近似，PhysX 不支持动态物体使用 triangle mesh collision。
**Fix:** 修改 robot USD 将 `MeshCollisionAPI.approximation` 从 `meshSimplification` 改为 `convexHull`。

```python
from pxr import Usd, UsdPhysics
stage = Usd.Stage.Open('workflows/simbox/example_assets/split_aloha_mid_360/robot.usd')
prim = stage.GetPrimAtPath('/Root/.../lifting_link/collisions')
UsdPhysics.MeshCollisionAPI(prim).GetApproximationAttr().Set('convexHull')
stage.GetRootLayer().Save()
```

**Status:** FIXED. Backup: `robot.usd.bak`

---

### 2. Physics scenes stepping mismatch

```
[Error] Physics scenes stepping is not the same, step subscription will be send with later step,
per scene step is not yet supported.
```

**Severity:** Low (仅首次 reset 时出现一次)
**Root cause:** IS 5.0.0 内部 physics scene 步进调度问题。physics_dt 和 rendering_dt 均为 1/30，配置一致。
**Status:** IGNORED. IS 内部行为，不影响仿真结果。

---

## Warnings — Fixed

### 3. Camera aperture inconsistent with resolution

```
[Warning] 'verticalAperture' (1.529) and 'horizontalAperture' (2.095) are inconsistent with
the pixel resolution aspect ratio (1.333). Setting 'verticalAperture' to 1.572 to ensure square pixels.
```

**Severity:** Low (IS 自动修正，但每个相机打 2 条 warning)
**Root cause:** `custom_camera.py` 在 `self.initialize()` 之后才设置 aperture/focal_length，但 `initialize()` 时就用默认 aperture 做一致性检查。
**Fix:** 重构 `custom_camera.py`，将 aperture/focal_length 设置移到 `initialize()` 之前。

```python
# Before (wrong order):
super().__init__(...)
self.initialize()          # <-- checks aperture here with default values
# ... later ...
self.set_horizontal_aperture(...)  # too late, warning already printed

# After (correct order):
super().__init__(...)
self.set_horizontal_aperture(...)  # set aperture first
self.set_vertical_aperture(...)
self.set_focal_length(...)
self.initialize()                  # now checks with correct values
```

**Status:** FIXED in `workflows/simbox/core/cameras/custom_camera.py`

---

### 4. Camera.set_projection_type deprecated

```
[Warning] Camera.set_projection_type is deprecated and will be removed in a future release.
Please use Camera.set_lens_distortion_model instead.
```

**Severity:** Low
**Fix:** 替换 API 调用，带 fallback 兼容旧版本。

```python
# Before:
self.set_projection_type("pinhole")
# After:
try:
    self.set_lens_distortion_model("pinhole")
except AttributeError:
    self.set_projection_type("pinhole")
```

**Status:** FIXED in `workflows/simbox/core/cameras/custom_camera.py`

---

## Warnings — Requires Manual Action

### 5. CPU powersave mode

```
[Warning] CPU performance profile is set to powersave. This profile sets the CPU to the
lowest frequency reducing performance.
```

**Severity:** Medium (影响整体性能)
**Fix:** 需要 sudo 权限手动设置。

```bash
# 临时切换到 performance 模式 (重启后恢复)
echo performance | sudo tee /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor

# 永久设置 (Ubuntu)
sudo apt install cpufrequtils
echo 'GOVERNOR="performance"' | sudo tee /etc/default/cpufrequtils
sudo systemctl restart cpufrequtils
```

**Status:** MANUAL. 需要用户自行设置。

---

## Warnings — Ignored (Safe)

### 6. IS 5.0 API deprecation warnings (~100 条)

```
[Warning] omni.isaac.core has been deprecated in favor of isaacsim.core.api.
Please update your code accordingly.
```

**Severity:** None
**说明:** IS 5.0 对所有 `omni.isaac.*` 模块重命名为 `isaacsim.*`。旧 API 仍然可用，仅打印 deprecation 提示。不影响功能，无需修改。如果将来升级到 IS 6.x 可能需要迁移。

---

### 7. Curobo warp cache warnings

```
[Warning] [curobo] Object already in warp cache, using existing instance for:
/World/task_0/pick_object_left/Aligned/mesh
```

**Severity:** None
**说明:** Curobo 内部 warp kernel 缓存机制。同一 mesh 在多次 world update 中被重复加载时复用缓存。完全正常，无害。

---

### 8. Robot dummy_base inertia tensor warnings

```
[Warning] The rigid body at .../dummy_base_rotate has a possibly invalid inertia tensor of
{1.0, 1.0, 1.0} and a negative mass, small sphere approximated inertia was used.
```

**Severity:** None
**说明:** Robot USD 中 `dummy_base_rotate/x/y` 是虚拟关节（用于全局位移），不需要真实质量属性。PhysX 自动使用球体近似惯性张量，功能正常。

---

### 9. Table mesh corrupted normal primvar

```
[Warning] Mesh '/World/task_0/table/Instance/Group_default_00/SM_08_component6_0' has corrupted
data in primvar 'normal': buffer size 14880 doesn't match expected size 2482
```

**Severity:** Low
**说明:** Table USD 中一个子网格的 normal 数据大小不匹配。IS 会忽略损坏的 normal 并自动计算。不影响渲染和物理。如需修复，需在 DCC 工具（Blender/Maya）中重新导出 table USD。

---

### 10. GPU / Hardware warnings

```
[Warning] Skipping unsupported non-NVIDIA GPU: AMD Ryzen 7 9800X3D (RADV RAPHAEL_MENDOCINO)
[Warning] ECC is enabled on physical device 0
[Warning] IOMMU is enabled.
```

**Severity:** None
**说明:** 系统有 AMD 集显（跳过正常）。RTX PRO 6000 默认开启 ECC（牺牲约 6% 显存带宽换数据可靠性）。IOMMU 已启用。均为信息提示。

---

### 11. SdRenderVarPtr missing LdrColorSDhost

```
[Warning] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
```

**Severity:** None
**说明:** Synthetic data pipeline 中 LDR color 渲染变量在 headless 模式下首帧未就绪。后续帧正常。不影响输出。

---

### 12. trimesh sampling warning

```
[Warning] [trimesh] only got 3/4 samples!
```

**Severity:** Low
**说明:** Grasp pose 采样时某个物体只获得 3 个（期望 4 个）抓取采样点。不影响功能，pipeline 会使用获得的采样继续运行。

---

## Summary

| Category | Count | Fixed | Ignored | Manual |
|----------|-------|-------|---------|--------|
| Errors | 2 | 1 | 1 | 0 |
| Warnings (actionable) | 3 | 2 | 0 | 1 |
| Warnings (safe to ignore) | 7 | 0 | 7 | 0 |
| **Total** | **12** | **3** | **8** | **1** |