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[INFO] Using python from: /home/ubuntu/miniconda3/envs/env_isaaclab/bin/python
Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
2026-08-11T16:44:43Z [96ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2026-08-11T16:44:43Z [399ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
2026-08-11T16:44:43Z [562ms] [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.
2026-08-11T16:44:43Z [572ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2026-08-11T16:44:53Z [10,687ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
2026-08-11T16:44:53Z [10,687ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
2026-08-11T16:44:53Z [10,687ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
|---------------------------------------------------------------------------------------------|
| Driver Version: 0 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|=============================================================================================|
| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
| Processor: INTEL(R) XEON(R) PLATINUM 8570
| Cores: 104 | Logical Cores: 208
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 2922999 | Free Memory: 2829494
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-08-11T16:44:56Z [13,068ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
- The driver is not installed properly and requires a clean re-install.
- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
2026-08-11T16:44:56Z [13,076ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
[INFO][AppLauncher]: Using device: cuda
[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0) payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json source=demo_0 subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
2026-08-11T16:44:56Z [13,076ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
2026-08-11T16:44:56Z [13,076ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
2026-08-11T16:44:56Z [13,156ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
2026-08-11T16:45:04Z [21,065ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-11T16:45:04Z [21,065ms] [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)
|---------------------------------------------------------------------------------------------|
| Driver Version: 0 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|=============================================================================================|
| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
| Processor: INTEL(R) XEON(R) PLATINUM 8570
| Cores: 104 | Logical Cores: 208
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 2922999 | Free Memory: 2827298
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-08-11T16:45:05Z [21,993ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
- The driver is not installed properly and requires a clean re-install.
- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
|---------------------------------------------------------------------------------------------|
| Driver Version: 0 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|=============================================================================================|
| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
| Processor: INTEL(R) XEON(R) PLATINUM 8570
| Cores: 104 | Logical Cores: 208
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 2922999 | Free Memory: 2825663
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-08-11T16:45:06Z [22,950ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
- The driver is not installed properly and requires a clean re-install.
- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
2026-08-11T16:45:06Z [22,954ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
sh: 1: zenity: not found
2026-08-11T16:45:06Z [23,059ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-11T16:45:06Z [23,060ms] [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)
2026-08-11T16:45:06Z [23,063ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
2026-08-11T16:45:06Z [23,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-11T16:45:06Z [23,071ms] [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)
2026-08-11T16:45:06Z [23,081ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-11T16:45:06Z [23,081ms] [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)
2026-08-11T16:45:06Z [23,083ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
2026-08-11T16:45:06Z [23,581ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
2026-08-11T16:45:06Z [23,618ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-08-11T16:45:06Z [23,618ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
2026-08-11T16:45:06Z [23,623ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-08-11T16:45:06Z [23,623ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
[36m======================================================================================[0m
[36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-07.log[0m
[36m======================================================================================[0m
[33m16:45:07 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m
[INFO]: Base environment:
Environment device : cuda:0
Environment seed : None
Physics step-size : 0.0020833333333333333
Rendering step-size : 0.016666666666666666
Environment step-size : 0.016666666666666666
[INFO]: Time taken for scene creation : 4.981999 seconds
[INFO]: Scene manager: <class InteractiveScene>
Number of environments: 512
Environment spacing : 3.0
Source prim name : /World/envs/env_0
Global prim paths : []
Replicate physics : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
[INFO]: Time taken for simulation start : 2.166519 seconds
[INFO] Command Manager: <CommandManager> contains 0 active terms.
+------------------------+
| Active Command Terms |
+--------+-------+-------+
| Index | Name | Type |
+--------+-------+-------+
+--------+-------+-------+
[INFO] Event Manager: <EventManager> contains 1 active terms.
+-------------------------------------+
| Active Event Terms in Mode: 'reset' |
+----------+--------------------------+
| Index | Name |
+----------+--------------------------+
| 0 | randomize_layout |
| 1 | seat_brush |
+----------+--------------------------+
[INFO] Recorder Manager: <RecorderManager> contains 6 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 |
| 5 | record_post_step_joint_commands |
+-------+------------------------------------------+
[INFO] Action Manager: <ActionManager> contains 2 active terms.
+-----------------------------------+
| Active Action Terms (shape: 8) |
+-------+---------------+-----------+
| Index | Name | Dimension |
+-------+---------------+-----------+
| 0 | right_arm | 7 |
| 1 | right_gripper | 1 |
+-------+---------------+-----------+
[INFO] Observation Manager: <ObservationManager> contains 2 groups.
+---------------------------------------------+
| Active Observation Terms in Group: 'policy' |
+----------+-----------------------+----------+
| Index | Name | Shape |
+----------+-----------------------+----------+
| 0 | actions | (8,) |
| 1 | left_eef_pos | (3,) |
| 2 | left_eef_quat | (4,) |
| 3 | right_eef_pos | (3,) |
| 4 | right_eef_quat | (4,) |
| 5 | left_gripper | (1,) |
| 6 | right_gripper | (1,) |
| 7 | box_pose | (7,) |
| 8 | bottle_0_pose | (7,) |
| 9 | bottle_1_pose | (7,) |
| 10 | bottle_2_pose | (7,) |
| 11 | bottle_3_pose | (7,) |
+----------+-----------------------+----------+
+---------------------------------------------------+
| Active Observation Terms in Group: 'subtask_terms' |
+-----------+---------------------------+-----------+
| Index | Name | Shape |
+-----------+---------------------------+-----------+
| 0 | grasp_bottle_0 | () |
| 1 | bottle_0_placed | () |
| 2 | grasp_bottle_1 | () |
| 3 | bottle_1_placed | () |
| 4 | grasp_bottle_2 | () |
| 5 | bottle_2_placed | () |
| 6 | grasp_bottle_3 | () |
| 7 | bottle_3_placed | () |
+-----------+---------------------------+-----------+
[INFO] Termination Manager: <TerminationManager> contains 1 active terms.
+-----------------------------+
| Active Termination Terms |
+-------+----------+----------+
| Index | Name | Time Out |
+-------+----------+----------+
| 0 | time_out | True |
+-------+----------+----------+
[INFO] Reward Manager: <RewardManager> contains 0 active terms.
+-----------------------+
| Active Reward Terms |
+-------+------+--------+
| Index | Name | Weight |
+-------+------+--------+
+-------+------+--------+
[INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
+----------------------+
| Active Curriculum Terms |
+-----------+----------+
| Index | Name |
+-----------+----------+
+-----------+----------+
[INFO]: Completed setting up the environment...
>> 08-11 16:45:14 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
>> 08-11 16:45:14 [env] widened J4 limit to +-88deg
>> 08-11 16:45:16 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
>> 08-11 16:45:16 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
>> 08-11 16:45:16 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
>> 08-11 16:45:16 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
>> 08-11 16:45:16 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
>> 08-11 16:45:16 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
>> 08-11 16:45:16 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
>> 08-11 16:45:16 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
>> 08-11 16:45:16 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
>> 08-11 16:46:05 [gen] step 40: lag=34/41mm(med/max) ORI=1deg j2=17deg(sat0.09) bottle_0_tilt=17deg eef->bottle_0=399mm [----] bottle_0->pocket=280mm
>> 08-11 16:46:41 [gen] step 80: lag=21/298mm(med/max) ORI=1deg j5=38deg(sat0.29) bottle_0_tilt=17deg eef->bottle_0=392mm [----] bottle_0->pocket=280mm
>> 08-11 16:47:16 [gen] step 120: lag=2/692mm(med/max) ORI=1deg j4=59deg(sat0.17) bottle_0_tilt=17deg eef->bottle_0=165mm [----] bottle_0->pocket=280mm
>> 08-11 16:47:51 [gen] step 160: lag=0/575mm(med/max) ORI=0deg j4=65deg(sat0.13) bottle_0_tilt=17deg eef->bottle_0=164mm [----] bottle_0->pocket=280mm
>> 08-11 16:48:28 [gen] step 200: lag=11/641mm(med/max) ORI=0deg j4=68deg(sat0.11) bottle_0_tilt=17deg eef->bottle_0=128mm [----] bottle_0->pocket=280mm
>> 08-11 16:49:05 [gen] step 240: lag=1/650mm(med/max) ORI=0deg j4=69deg(sat0.11) bottle_0_tilt=27deg eef->bottle_0=14mm [grip] bottle_0->pocket=275mm
>> 08-11 16:49:43 [gen] step 280: lag=0/650mm(med/max) ORI=0deg j4=69deg(sat0.11) bottle_0_tilt=27deg eef->bottle_0=14mm [grip] bottle_0->pocket=275mm
>> 08-11 16:50:29 [gen] step 320: lag=13/653mm(med/max) ORI=2deg j4=88deg(sat0.00) bottle_0_tilt=65deg eef->bottle_0=109mm [----] bottle_0->pocket=278mm
>> 08-11 16:51:07 [gen] step 360: lag=23/653mm(med/max) ORI=2deg j4=88deg(sat0.00) bottle_1_tilt=17deg eef->bottle_1=152mm [----] bottle_1->pocket=91mm
>> 08-11 16:51:43 [gen] step 400: lag=4/653mm(med/max) ORI=0deg j4=88deg(sat0.00) bottle_3_tilt=11deg eef->bottle_3=32mm [grip] bottle_3->pocket=100mm
>> 08-11 16:52:23 [gen] step 440: lag=10/653mm(med/max) ORI=0deg j4=87deg(sat0.01) bottle_3_tilt=11deg eef->bottle_3=27mm [grip] bottle_3->pocket=100mm
>> 08-11 16:52:59 [gen] step 480: lag=7/653mm(med/max) ORI=0deg j4=88deg(sat-0.00) bottle_3_tilt=11deg eef->bottle_3=104mm [----] bottle_3->pocket=100mm
>> 08-11 16:53:42 [gen] step 520: lag=11/653mm(med/max) ORI=0deg j4=88deg(sat0.00) bottle_1_tilt=17deg eef->bottle_1=72mm [----] bottle_1->pocket=91mm
>> 08-11 16:54:17 [gen] step 560: lag=2/653mm(med/max) ORI=0deg j4=88deg(sat0.00) bottle_1_tilt=17deg eef->bottle_1=72mm [----] bottle_1->pocket=91mm
>> 08-11 16:54:54 [gen] step 600: lag=10/653mm(med/max) ORI=0deg j4=88deg(sat0.00) bottle_1_tilt=17deg eef->bottle_1=72mm [----] bottle_1->pocket=91mm
>> 08-11 16:55:29 [gen] step 640: lag=18/653mm(med/max) ORI=0deg j4=88deg(sat0.00) bottle_1_tilt=17deg eef->bottle_1=72mm [----] bottle_1->pocket=91mm
>> 08-11 16:56:07 [gen] step 680: lag=2/653mm(med/max) ORI=0deg j4=88deg(sat0.00) bottle_1_tilt=17deg eef->bottle_1=72mm [----] bottle_1->pocket=91mm
>> 08-11 16:56:14 [wpgen/press] push_seat_0: peak press force N all med=0.00 max=66.37 CONTACT n=223/512 med=12.68 p90=24.46 max=66.37 (gate 10.00 <= f <= 30.00)
>> 08-11 16:59:05 [wpgen/progress] batch 1 (cube b0): 102/512 kept running 102/400 (512 rollouts)
>> 08-11 16:59:07 [gen] step 720: lag=7/7mm(med/max) ORI=2deg j2=2deg(sat0.01) bottle_2_tilt=2deg eef->bottle_2=332mm [----] bottle_2->pocket=314mm
>> 08-11 16:59:50 [gen] step 760: lag=43/52mm(med/max) ORI=1deg j2=18deg(sat0.10) bottle_2_tilt=17deg eef->bottle_2=412mm [----] bottle_2->pocket=315mm
>> 08-11 17:00:25 [gen] step 800: lag=20/321mm(med/max) ORI=1deg j3=-49deg(sat0.29) bottle_2_tilt=17deg eef->bottle_2=301mm [----] bottle_2->pocket=315mm
>> 08-11 17:01:00 [gen] step 840: lag=6/641mm(med/max) ORI=1deg j4=63deg(sat0.14) bottle_2_tilt=17deg eef->bottle_2=49mm [----] bottle_2->pocket=315mm
>> 08-11 17:01:35 [gen] step 880: lag=0/612mm(med/max) ORI=0deg j4=71deg(sat0.09) bottle_2_tilt=17deg eef->bottle_2=41mm [----] bottle_2->pocket=315mm
>> 08-11 17:02:13 [gen] step 920: lag=11/683mm(med/max) ORI=1deg j4=87deg(sat0.01) bottle_2_tilt=17deg eef->bottle_2=42mm [----] bottle_2->pocket=315mm
>> 08-11 17:02:50 [gen] step 960: lag=1/677mm(med/max) ORI=2deg j4=88deg(sat-0.00) bottle_2_tilt=16deg eef->bottle_2=22mm [grip] bottle_2->pocket=321mm
>> 08-11 17:03:28 [gen] step 1000: lag=1/677mm(med/max) ORI=3deg j4=88deg(sat-0.00) bottle_2_tilt=16deg eef->bottle_2=22mm [grip] bottle_2->pocket=320mm
>> 08-11 17:04:16 [gen] step 1040: lag=14/680mm(med/max) ORI=9deg j4=88deg(sat-0.00) bottle_2_tilt=12deg eef->bottle_2=22mm [grip] bottle_2->pocket=292mm
>> 08-11 17:04:54 [gen] step 1080: lag=18/680mm(med/max) ORI=3deg j4=88deg(sat0.00) bottle_2_tilt=17deg eef->bottle_2=22mm [grip] bottle_2->pocket=139mm
>> 08-11 17:05:30 [gen] step 1120: lag=4/680mm(med/max) ORI=1deg j4=78deg(sat0.06) bottle_2_tilt=11deg eef->bottle_2=22mm [grip] bottle_2->pocket=103mm
>> 08-11 17:06:12 [gen] step 1160: lag=8/680mm(med/max) ORI=1deg j4=66deg(sat0.13) bottle_2_tilt=4deg eef->bottle_2=22mm [grip] bottle_2->pocket=119mm
>> 08-11 17:06:49 [gen] step 1200: lag=7/680mm(med/max) ORI=1deg j4=65deg(sat0.13) bottle_2_tilt=18deg eef->bottle_2=11mm [----] bottle_2->pocket=97mm
>> 08-11 17:07:34 [gen] step 1240: lag=9/680mm(med/max) ORI=0deg j4=65deg(sat0.13) bottle_2_tilt=17deg eef->bottle_2=55mm [----] bottle_2->pocket=98mm
>> 08-11 17:08:11 [gen] step 1280: lag=0/680mm(med/max) ORI=0deg j4=64deg(sat0.14) bottle_2_tilt=17deg eef->bottle_2=51mm [----] bottle_2->pocket=99mm
>> 08-11 17:08:49 [gen] step 1320: lag=16/680mm(med/max) ORI=2deg j4=65deg(sat0.13) bottle_2_tilt=14deg eef->bottle_2=6mm [grip] bottle_2->pocket=99mm
>> 08-11 17:09:31 [gen] step 1360: lag=9/680mm(med/max) ORI=4deg j4=62deg(sat0.15) bottle_2_tilt=72deg eef->bottle_2=20mm [grip] bottle_2->pocket=103mm
>> 08-11 17:10:02 [wpgen/press] push_seat_2: peak press force N all med=0.00 max=128.35 CONTACT n=225/512 med=11.92 p90=21.03 max=128.35 (gate 10.00 <= f <= 30.00)
>> 08-11 17:10:09 [gen] step 1400: lag=0/680mm(med/max) ORI=0deg j4=67deg(sat0.12) bottle_2_tilt=100deg eef->bottle_2=133mm [----] bottle_2->pocket=101mm
>> 08-11 17:13:30 [wpgen/progress] batch 2 (cube b2): 90/512 kept running 192/400 (1024 rollouts)
>> 08-11 17:13:44 [gen] step 1440: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) bottle_0_tilt=17deg eef->bottle_0=367mm [----] bottle_0->pocket=224mm
>> 08-11 17:14:28 [gen] step 1480: lag=89/124mm(med/max) ORI=2deg j2=24deg(sat0.14) bottle_0_tilt=17deg eef->bottle_0=398mm [----] bottle_0->pocket=224mm
>> 08-11 17:15:04 [gen] step 1520: lag=21/215mm(med/max) ORI=1deg j3=-48deg(sat0.28) bottle_3_tilt=17deg eef->bottle_3=208mm [----] bottle_3->pocket=166mm
>> 08-11 17:15:40 [gen] step 1560: lag=3/572mm(med/max) ORI=0deg j4=70deg(sat0.10) bottle_3_tilt=17deg eef->bottle_3=118mm [----] bottle_3->pocket=166mm
>> 08-11 17:16:15 [gen] step 1600: lag=0/597mm(med/max) ORI=0deg j4=70deg(sat0.10) bottle_3_tilt=17deg eef->bottle_3=118mm [----] bottle_3->pocket=166mm
>> 08-11 17:16:53 [gen] step 1640: lag=7/661mm(med/max) ORI=1deg j4=74deg(sat0.08) bottle_3_tilt=25deg eef->bottle_3=12mm [grip] bottle_3->pocket=165mm
>> 08-11 17:17:29 [gen] step 1680: lag=2/670mm(med/max) ORI=1deg j4=75deg(sat0.07) bottle_3_tilt=47deg eef->bottle_3=11mm [grip] bottle_3->pocket=164mm
>> 08-11 17:18:20 [gen] step 1720: lag=12/668mm(med/max) ORI=0deg j4=79deg(sat0.05) bottle_3_tilt=47deg eef->bottle_3=16mm [grip] bottle_3->pocket=164mm
>> 08-11 17:18:56 [gen] step 1760: lag=18/668mm(med/max) ORI=4deg j4=88deg(sat0.00) bottle_3_tilt=47deg eef->bottle_3=161mm [----] bottle_3->pocket=164mm
>> 08-11 17:19:31 [gen] step 1800: lag=19/668mm(med/max) ORI=1deg j4=78deg(sat0.06) bottle_3_tilt=47deg eef->bottle_3=270mm [----] bottle_3->pocket=164mm
>> 08-11 17:20:08 [gen] step 1840: lag=5/668mm(med/max) ORI=0deg j4=70deg(sat0.10) bottle_3_tilt=47deg eef->bottle_3=261mm [----] bottle_3->pocket=164mm
>> 08-11 17:20:48 [gen] step 1880: lag=9/668mm(med/max) ORI=0deg j4=75deg(sat0.07) bottle_3_tilt=47deg eef->bottle_3=234mm [----] bottle_3->pocket=164mm
>> 08-11 17:21:25 [gen] step 1920: lag=6/668mm(med/max) ORI=1deg j4=73deg(sat0.09) bottle_3_tilt=47deg eef->bottle_3=250mm [----] bottle_3->pocket=164mm
>> 08-11 17:22:08 [gen] step 1960: lag=10/668mm(med/max) ORI=0deg j4=80deg(sat0.04) bottle_3_tilt=47deg eef->bottle_3=240mm [----] bottle_3->pocket=164mm
>> 08-11 17:22:43 [gen] step 2000: lag=1/668mm(med/max) ORI=0deg j4=80deg(sat0.04) bottle_3_tilt=47deg eef->bottle_3=240mm [----] bottle_3->pocket=164mm
>> 08-11 17:23:23 [gen] step 2040: lag=11/668mm(med/max) ORI=0deg j4=80deg(sat0.04) bottle_3_tilt=47deg eef->bottle_3=240mm [----] bottle_3->pocket=164mm
>> 08-11 17:23:58 [gen] step 2080: lag=18/668mm(med/max) ORI=0deg j4=80deg(sat0.04) bottle_3_tilt=47deg eef->bottle_3=240mm [----] bottle_3->pocket=164mm
>> 08-11 17:24:34 [gen] step 2120: lag=1/668mm(med/max) ORI=0deg j4=80deg(sat0.04) bottle_3_tilt=47deg eef->bottle_3=240mm [----] bottle_3->pocket=164mm
>> 08-11 17:24:38 [wpgen/press] push_seat_3: peak press force N all med=7.61 max=71.45 CONTACT n=295/512 med=11.78 p90=21.43 max=71.45 (gate 10.00 <= f <= 30.00)
>> 08-11 17:28:48 [wpgen/progress] batch 3 (cube b3): 136/512 kept running 328/400 (1536 rollouts)
>> 08-11 17:28:52 [gen] step 2160: lag=74/74mm(med/max) ORI=2deg j2=12deg(sat0.07) bottle_1_tilt=8deg eef->bottle_1=361mm [----] bottle_1->pocket=226mm
>> 08-11 17:29:38 [gen] step 2200: lag=52/62mm(med/max) ORI=0deg j2=16deg(sat0.09) bottle_1_tilt=17deg eef->bottle_1=394mm [----] bottle_1->pocket=225mm
>> 08-11 17:30:13 [gen] step 2240: lag=23/139mm(med/max) ORI=1deg j2=25deg(sat0.14) bottle_1_tilt=17deg eef->bottle_1=186mm [----] bottle_1->pocket=225mm
>> 08-11 17:30:48 [gen] step 2280: lag=2/569mm(med/max) ORI=0deg j4=54deg(sat0.19) bottle_1_tilt=17deg eef->bottle_1=19mm [----] bottle_1->pocket=225mm
>> 08-11 17:31:25 [gen] step 2320: lag=0/1054mm(med/max) ORI=0deg j4=54deg(sat0.19) bottle_1_tilt=17deg eef->bottle_1=19mm [----] bottle_1->pocket=225mm
>> 08-11 17:32:03 [gen] step 2360: lag=11/548mm(med/max) ORI=1deg j4=49deg(sat0.22) bottle_1_tilt=17deg eef->bottle_1=23mm [----] bottle_1->pocket=225mm
>> 08-11 17:32:38 [gen] step 2400: lag=1/549mm(med/max) ORI=0deg j4=62deg(sat0.15) bottle_1_tilt=17deg eef->bottle_1=10mm [grip] bottle_1->pocket=229mm
>> 08-11 17:33:15 [gen] step 2440: lag=1/549mm(med/max) ORI=0deg j4=62deg(sat0.15) bottle_1_tilt=17deg eef->bottle_1=10mm [grip] bottle_1->pocket=230mm
>> 08-11 17:34:04 [gen] step 2480: lag=14/549mm(med/max) ORI=0deg j4=87deg(sat0.01) bottle_1_tilt=17deg eef->bottle_1=10mm [grip] bottle_1->pocket=234mm
>> 08-11 17:34:39 [gen] step 2520: lag=24/549mm(med/max) ORI=7deg j4=88deg(sat-0.00) bottle_1_tilt=10deg eef->bottle_1=10mm [grip] bottle_1->pocket=103mm
>> 08-11 17:35:16 [gen] step 2560: lag=5/549mm(med/max) ORI=0deg j4=88deg(sat-0.00) bottle_1_tilt=9deg eef->bottle_1=10mm [grip] bottle_1->pocket=93mm
>> 08-11 17:35:55 [gen] step 2600: lag=10/549mm(med/max) ORI=1deg j4=88deg(sat0.00) bottle_2_tilt=17deg eef->bottle_2=10mm [grip] bottle_2->pocket=91mm
>> 08-11 17:36:32 [gen] step 2640: lag=5/549mm(med/max) ORI=1deg j4=88deg(sat0.00) bottle_1_tilt=14deg eef->bottle_1=10mm [grip] bottle_1->pocket=89mm
>> 08-11 17:37:15 [gen] step 2680: lag=11/549mm(med/max) ORI=4deg j4=88deg(sat-0.00) bottle_1_tilt=31deg eef->bottle_1=91mm [----] bottle_1->pocket=89mm
>> 08-11 17:37:50 [gen] step 2720: lag=1/549mm(med/max) ORI=0deg j4=86deg(sat0.01) bottle_1_tilt=31deg eef->bottle_1=25mm [grip] bottle_1->pocket=89mm
>> 08-11 17:38:29 [gen] step 2760: lag=14/549mm(med/max) ORI=1deg j4=87deg(sat0.00) bottle_1_tilt=26deg eef->bottle_1=3mm [grip] bottle_1->pocket=90mm
>> 08-11 17:39:05 [gen] step 2800: lag=17/549mm(med/max) ORI=5deg j4=80deg(sat0.04) bottle_1_tilt=28deg eef->bottle_1=13mm [grip] bottle_1->pocket=89mm
>> 08-11 17:39:40 [gen] step 2840: lag=1/549mm(med/max) ORI=0deg j4=80deg(sat0.05) bottle_1_tilt=33deg eef->bottle_1=55mm [----] bottle_1->pocket=90mm
>> 08-11 17:39:45 [wpgen/press] push_seat_1: peak press force N all med=6.89 max=99.47 CONTACT n=274/512 med=11.94 p90=22.29 max=99.47 (gate 10.00 <= f <= 30.00)
>> 08-11 17:44:14 [wpgen/progress] batch 4 (cube b1): 142/512 kept running 470/400 (2048 rollouts)
>> 08-11 17:44:14 [wpgen/done] DONE (batched chunks): 470/400 kept in 2048 rollouts (4 batches of 512). success 470 | fail@[place_bottle_0 248, push_seat_0 113, grasp_bottle_0 41, motion:right_arm:j5_pos 48, push_seat_2 125, place_bottle_2 263, grasp_bottle_2 20, motion:right_arm:j2_cmd 1, place_bottle_3 195, push_seat_3 147, grasp_bottle_3 19, motion:right_arm:j6_pos 3, motion:right_arm:j6_cmd 3, push_seat_1 117, place_bottle_1 207, grasp_bottle_1 28] (fail rate 1578/2048 = 77%)
>> 08-11 17:44:14 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
>> 08-11 17:44:14 [wpgen/done] b0->s0: 27 [ 128, 21%] b0->s1: 25 [ 128, 20%] b0->s2: 24 [ 128, 19%] b0->s3: 26 [ 128, 20%] | b0 total 102
>> 08-11 17:44:14 [wpgen/done] b1->s0: 39 [ 128, 30%] b1->s1: 38 [ 128, 30%] b1->s2: 35 [ 128, 27%] b1->s3: 30 [ 128, 23%] | b1 total 142
>> 08-11 17:44:14 [wpgen/done] b2->s0: 31 [ 128, 24%] b2->s1: 17 [ 128, 13%] b2->s2: 22 [ 128, 17%] b2->s3: 20 [ 128, 16%] | b2 total 90
>> 08-11 17:44:14 [wpgen/done] b3->s0: 47 [ 128, 37%] b3->s1: 41 [ 128, 32%] b3->s2: 27 [ 128, 21%] b3->s3: 21 [ 128, 16%] | b3 total 136
>> 08-11 17:44:14 [wpgen/done] per-slot totals: s0= 144 s1= 121 s2= 108 s3= 97
>> 08-11 17:44:14 [wpgen/done] balance: min 17, max 47 per pair (2.8x spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
2026-08-11T16:45:07Z [23,808ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
2026-08-11T16:45:07Z [23,812ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
2026-08-11T17:44:15Z [3,571,994ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!
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