File size: 40,740 Bytes
c2d914e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 | [3g
H H H H H H H H H H H H H H H H H H H H H H H H H H H H H H
[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_20260812_203648.log
2026-08-12T20:36:48Z [83ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2026-08-12T20:36:48Z [342ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
2026-08-12T20:36:48Z [482ms] [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.
2026-08-12T20:36:48Z [490ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2026-08-12T20:36:51Z [3,273ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
2026-08-12T20:36:51Z [3,273ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
2026-08-12T20:36:51Z [3,273ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
2026-08-12T20:36:51Z [3,340ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2026-08-12T20:36:51Z [3,340ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2026-08-12T20:36:51Z [3,340ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2026-08-12T20:36:52Z [4,371ms] [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
>> 08-12 20:36:52 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
>> 08-12 20:36:52 [wpgen/setup] SYNTH place windows ON: clear=[0.08, 0.12] hover=[0.015, 0.03] hover_xy=0.005 place_z=0.024 (replayed place vias replaced; grasp/push untouched)
>> 08-12 20:36:52 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
>> 08-12 20:36:52 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0) payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
>> 08-12 20:36:52 [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']
2026-08-12T20:36:52Z [4,371ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
2026-08-12T20:36:52Z [4,371ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
2026-08-12T20:36:53Z [5,326ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-12T20:36:53Z [5,326ms] [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)
2026-08-12T20:36:53Z [5,355ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2026-08-12T20:36:53Z [5,355ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2026-08-12T20:36:53Z [5,355ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2026-08-12T20:36:54Z [6,474ms] [Error] [carb.graphics-vulkan.plugin] VkResult: ERROR_INCOMPATIBLE_DRIVER
2026-08-12T20:36:54Z [6,474ms] [Error] [carb.graphics-vulkan.plugin] vkCreateInstance failed. Vulkan 1.1 is not supported, or your driver requires an update.
2026-08-12T20:36:54Z [6,474ms] [Error] [gpu.foundation.plugin] carb::graphics::createInstance failed.
2026-08-12T20:36:55Z [7,534ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
sh: 1: zenity: not found
2026-08-12T20:36:55Z [7,620ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-12T20:36:55Z [7,620ms] [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)
2026-08-12T20:36:55Z [7,624ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
2026-08-12T20:36:55Z [7,631ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-12T20:36:55Z [7,631ms] [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)
2026-08-12T20:36:55Z [7,639ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-12T20:36:55Z [7,639ms] [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)
2026-08-12T20:36:55Z [7,641ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
2026-08-12T20:36:56Z [8,124ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
2026-08-12T20:36:56Z [8,158ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-08-12T20:36:56Z [8,158ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
2026-08-12T20:36:56Z [8,164ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-08-12T20:36:56Z [8,164ms] [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_2026-08-12_20-36-56.log[0m
[36m======================================================================================[0m
[33m20:36:56 [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 : 4.648128 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 : 1.821863 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...
>> 08-12 20:37:03 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
>> 08-12 20:37:03 [env] widened J4 limit to +-88deg
>> 08-12 20:37:04 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
>> 08-12 20:37:04 [wpgen/chunk] catalog 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
>> 08-12 20:37:04 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
>> 08-12 20:37:04 [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)])
>> 08-12 20:37:04 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
>> 08-12 20:37:04 [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])
>> 08-12 20:37:04 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
>> 08-12 20:37:04 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
>> 08-12 20:37:04 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 1 kept, budget 512 rollouts
>> 08-12 20:37:05 [wpgen/setup] randomized initial arm pose ON (mimic.init_arm_random): arms=['right_arm', 'left_arm'], delta=[0.4, 0.3, 0.3, 0.4, 0.4, 0.6] rad around home (clamped inside motion_filter joint limits)
>> 08-12 20:37:46 [gen] step 40: lag=34/42mm(med/max) ORI=0/1deg(med/p90) j2sat=0.09/0.01(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=392mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
>> 08-12 20:38:19 [gen] step 80: lag=26/375mm(med/max) ORI=1/3deg(med/p90) j2sat=0.18/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=243mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
>> 08-12 20:38:53 [gen] step 120: lag=12/773mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=125mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
>> 08-12 20:39:26 [gen] step 160: lag=0/1010mm(med/max) ORI=0/0deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=110mm(med) grip=0/512 bottle_0->pocket=222/286mm(med/p90)
>> 08-12 20:39:59 [gen] step 200: lag=0/696mm(med/max) ORI=0/0deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_0_tilt=17/17deg(med/p90) eef->bottle_0=110mm(med) grip=0/512 bottle_0->pocket=223/286mm(med/p90)
>> 08-12 20:40:35 [gen] step 240: lag=3/672mm(med/max) ORI=0/4deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_0_tilt=17/86deg(med/p90) eef->bottle_0=21mm(med) grip=440/512 bottle_0->pocket=222/290mm(med/p90)
>> 08-12 20:41:10 [gen] step 280: lag=0/672mm(med/max) ORI=0/3deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=21mm(med) grip=478/512 bottle_0->pocket=220/289mm(med/p90)
>> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=18.6mm minimal-tilt=16.1deg free-spin=15.8deg (accepted)
>> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=53.9deg (of total-rotation=56.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=147.9deg (of total-rotation=168.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=116.5deg (of total-rotation=116.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.0deg (of total-rotation=108.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=25.9mm minimal-tilt=17.7deg free-spin=0.2deg (accepted)
>> 08-12 20:41:33 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=59.6deg (of total-rotation=62.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=120.7deg (of total-rotation=122.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=102.1deg (of total-rotation=108.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.5mm minimal-tilt=14.7deg free-spin=23.7deg (accepted)
>> 08-12 20:41:34 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=112.3deg (of total-rotation=113.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:35 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=85.8deg (of total-rotation=121.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:35 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=121.2deg (of total-rotation=121.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=114.9deg (of total-rotation=117.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=163.8deg (of total-rotation=168.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.1deg (of total-rotation=114.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.4deg (of total-rotation=109.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=119.3deg (of total-rotation=120.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:36 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=106.1deg (of total-rotation=109.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.0deg (of total-rotation=108.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=83.6deg (of total-rotation=87.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=13.5mm minimal-tilt=22.8deg free-spin=7.5deg (accepted)
>> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=161.3deg (of total-rotation=163.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:37 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=45.3deg (of total-rotation=46.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=153.5deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.3deg (of total-rotation=109.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=32.8mm minimal-tilt=29.6deg free-spin=0.2deg (accepted)
>> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=106.9deg (of total-rotation=110.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:38 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=65.9deg (of total-rotation=67.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.5deg (of total-rotation=109.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=137.7deg (of total-rotation=144.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=137.9deg (of total-rotation=168.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.7deg (of total-rotation=109.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.2deg (of total-rotation=108.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:39 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=167.9deg (of total-rotation=169.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.4deg (of total-rotation=108.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=103.3deg (of total-rotation=108.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.1deg (of total-rotation=108.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.6deg (of total-rotation=48.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=77.7deg (of total-rotation=110.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=28.3mm minimal-tilt=15.9deg free-spin=1.5deg (accepted)
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=49.0deg (of total-rotation=50.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=93.5deg (of total-rotation=114.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=88.1deg (of total-rotation=108.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=69.3deg (of total-rotation=70.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=149.0deg (of total-rotation=169.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:40 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.9deg (of total-rotation=109.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:41 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=118.8deg (of total-rotation=118.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:41 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=19.9mm minimal-tilt=17.4deg free-spin=0.0deg (accepted)
>> 08-12 20:41:41 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.2deg (of total-rotation=109.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=9.6mm minimal-tilt=13.7deg free-spin=35.5deg (accepted)
>> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=107.8deg (of total-rotation=118.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.9deg (of total-rotation=109.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:42 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=117.3deg (of total-rotation=120.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.1mm minimal-tilt=13.2deg free-spin=24.0deg (accepted)
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.6deg (of total-rotation=113.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=153.3deg (of total-rotation=153.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.5deg (of total-rotation=113.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=95.5deg (of total-rotation=109.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=102.5deg (of total-rotation=119.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=144.8deg (of total-rotation=168.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:43 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=162.8deg (of total-rotation=169.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.0deg (of total-rotation=48.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=17.2mm minimal-tilt=17.8deg free-spin=1.4deg (accepted)
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=100.2deg (of total-rotation=111.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=23.9mm minimal-tilt=38.1deg free-spin=0.7deg (accepted)
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.4deg (of total-rotation=110.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=118.4deg (of total-rotation=118.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=65.7deg (of total-rotation=65.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:44 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=152.8deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=21.4mm minimal-tilt=17.3deg free-spin=4.9deg (accepted)
>> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=101.0deg (of total-rotation=109.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=48.1deg (of total-rotation=55.0deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=33.2mm minimal-tilt=13.2deg free-spin=4.2deg (accepted)
>> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=71.4deg (of total-rotation=73.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:45 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=26.5mm minimal-tilt=25.3deg free-spin=9.0deg (accepted)
>> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=153.4deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.9deg (of total-rotation=119.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=97.8deg (of total-rotation=103.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:46 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=78.2deg (of total-rotation=80.7deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=117.0deg (of total-rotation=119.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=20.8mm minimal-tilt=18.0deg free-spin=7.1deg (accepted)
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=88.5deg (of total-rotation=97.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=75.1deg (of total-rotation=83.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=145.4deg (of total-rotation=153.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=113.6deg (of total-rotation=118.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=46.1deg (of total-rotation=47.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:47 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=108.0deg (of total-rotation=109.8deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=112.9deg (of total-rotation=113.3deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=145.5deg (of total-rotation=168.2deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=117.2deg (of total-rotation=120.1deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:48 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=15.6mm minimal-tilt=20.3deg free-spin=5.0deg (accepted)
>> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=30.1mm minimal-tilt=10.2deg free-spin=9.0deg (accepted)
>> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=21.3mm minimal-tilt=14.7deg free-spin=2.6deg (accepted)
>> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=49.0deg (of total-rotation=83.6deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=105.5deg (of total-rotation=116.4deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: in-hand-offset=16.5mm minimal-tilt=15.6deg free-spin=3.7deg (accepted)
>> 08-12 20:41:49 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=106.2deg (of total-rotation=108.9deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:41:50 [wpgen/graspdiag] insert_bottle_0: REJECTED minimal-tilt=144.9deg (of total-rotation=153.5deg) (max 45deg) -- retargeted grasp too far from this slot's seat orientation, abort and retry
>> 08-12 20:42:01 [gen] step 320: lag=3/667mm(med/max) ORI=0/3deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=21mm(med) grip=476/512 bottle_0->pocket=222/288mm(med/p90)
>> 08-12 20:42:35 [gen] step 360: lag=6/667mm(med/max) ORI=0/4deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=27mm(med) grip=319/512 bottle_0->pocket=226/293mm(med/p90)
>> 08-12 20:43:09 [gen] step 400: lag=2/667mm(med/max) ORI=0/6deg(med/p90) j4sat=0.04/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=28mm(med) grip=302/512 bottle_0->pocket=236/298mm(med/p90)
>> 08-12 20:43:45 [gen] step 440: lag=3/667mm(med/max) ORI=0/5deg(med/p90) j4sat=0.05/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=28mm(med) grip=302/512 bottle_0->pocket=226/291mm(med/p90)
>> 08-12 20:44:18 [gen] step 480: lag=4/667mm(med/max) ORI=0/3deg(med/p90) j4sat=0.06/-0.00(med/min) bottle_0_tilt=17/108deg(med/p90) eef->bottle_0=28mm(med) grip=302/512 bottle_0->pocket=207/274mm(med/p90)
>> 08-12 20:44:55 [gen] step 520: lag=5/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=195mm(med) grip=1/512 bottle_2->pocket=145/279mm(med/p90)
>> 08-12 20:45:28 [gen] step 560: lag=5/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=185mm(med) grip=2/512 bottle_2->pocket=144/279mm(med/p90)
>> 08-12 20:46:01 [gen] step 600: lag=4/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.07/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=189mm(med) grip=2/512 bottle_2->pocket=144/279mm(med/p90)
>> 08-12 20:46:39 [gen] step 640: lag=4/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=212mm(med) grip=13/512 bottle_2->pocket=144/279mm(med/p90)
>> 08-12 20:47:12 [gen] step 680: lag=4/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=43/512 bottle_2->pocket=144/279mm(med/p90)
>> 08-12 20:47:46 [gen] step 720: lag=4/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.12/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=74/512 bottle_2->pocket=144/279mm(med/p90)
>> 08-12 20:48:20 [gen] step 760: lag=4/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=86/512 bottle_2->pocket=144/279mm(med/p90)
>> 08-12 20:48:56 [gen] step 800: lag=3/667mm(med/max) ORI=0/1deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=87/512 bottle_2->pocket=144/279mm(med/p90)
>> 08-12 20:49:30 [gen] step 840: lag=5/667mm(med/max) ORI=1/3deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=86/512 bottle_2->pocket=144/283mm(med/p90)
>> 08-12 20:49:53 [wpgen/diag] place_bottle_0: post-phaseB margin-to-placed_z(mm) n=221 med=6.2 p10=-0.0 frac_over=10% dist(mm) med=3.9 p90=22.6
>> 08-12 20:50:04 [gen] step 880: lag=2/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.14/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=0/512 bottle_2->pocket=144/285mm(med/p90)
>> 08-12 20:50:43 [gen] step 920: lag=8/667mm(med/max) ORI=1/3deg(med/p90) j4sat=0.08/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=0/512 bottle_2->pocket=144/285mm(med/p90)
>> 08-12 20:51:18 [gen] step 960: lag=5/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.11/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=218mm(med) grip=44/512 bottle_2->pocket=145/285mm(med/p90)
>> 08-12 20:51:58 [gen] step 1000: lag=10/667mm(med/max) ORI=1/6deg(med/p90) j4sat=0.13/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=219mm(med) grip=51/512 bottle_2->pocket=145/285mm(med/p90)
>> 08-12 20:52:31 [gen] step 1040: lag=0/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.10/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=221mm(med) grip=3/512 bottle_2->pocket=145/289mm(med/p90)
>> 08-12 20:52:40 [wpgen/press] push_seat_0: peak press force N all med=0.00 max=75.30 CONTACT n=209/512 med=11.39 p90=20.45 max=75.30 (gate 10.00 <= f <= 35.00)
>> 08-12 20:52:40 [wpgen/diag] push_seat_0: post-push seat terms n=219 xy_ok=87% (dist med=1.4 p90=25.2mm tol=15) z_ok=92% (z med=21.1 p10=21.0mm seat_z=27) ori_ok=80%
>> 08-12 20:53:05 [gen] step 1080: lag=0/667mm(med/max) ORI=0/2deg(med/p90) j4sat=0.09/-0.00(med/min) bottle_2_tilt=17/17deg(med/p90) eef->bottle_2=220mm(med) grip=3/512 bottle_2->pocket=145/289mm(med/p90)
>> 08-12 20:55:48 [wpgen/progress] batch 1 (cube b0): 77/512 kept running 77/1 (512 rollouts)
>> 08-12 20:55:48 [wpgen/done] DONE (batched chunks): 77/1 kept in 512 rollouts (1 batches of 512). success 77 | fail@[place_bottle_0_slip 254, grasp_bottle_0 37, motion:right_arm:j5_pos 22, push_seat_0 120, place_bottle_0 2] (fail rate 435/512 = 85%)
>> 08-12 20:55:48 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
>> 08-12 20:55:48 [wpgen/done] b0->s0: 28 [ 128, 22%] b0->s1: 21 [ 128, 16%] b0->s2: 16 [ 128, 12%] b0->s3: 12 [ 128, 9%] | b0 total 77
>> 08-12 20:55:48 [wpgen/done] b1->s0: 0 [ 0, 0%] b1->s1: 0 [ 0, 0%] b1->s2: 0 [ 0, 0%] b1->s3: 0 [ 0, 0%] | b1 total 0
>> 08-12 20:55:48 [wpgen/done] b2->s0: 0 [ 0, 0%] b2->s1: 0 [ 0, 0%] b2->s2: 0 [ 0, 0%] b2->s3: 0 [ 0, 0%] | b2 total 0
>> 08-12 20:55:48 [wpgen/done] b3->s0: 0 [ 0, 0%] b3->s1: 0 [ 0, 0%] b3->s2: 0 [ 0, 0%] b3->s3: 0 [ 0, 0%] | b3 total 0
>> 08-12 20:55:48 [wpgen/done] per-slot totals: s0= 28 s1= 21 s2= 16 s3= 12
>> 08-12 20:55:48 [wpgen/done] balance: min 0, max 28 per pair (infx spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
2026-08-12T20:36:56Z [8,328ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
2026-08-12T20:36:56Z [8,332ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
2026-08-12T20:55:49Z [1,141,783ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!
|