brush/0723_14/gen/gpu1.log


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/miniforge3/envs/env_isaaclab/bin/python
Loading user config located at: '/home/ubuntu/miniforge3/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/miniforge3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260813_175624.log
2026-08-13T17:56:25Z [80ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
2026-08-13T17:56:25Z [326ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
2026-08-13T17:56:25Z [460ms] [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.
2026-08-13T17:56:25Z [469ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
2026-08-13T17:56:37Z [12,198ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
2026-08-13T17:56:37Z [12,198ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
2026-08-13T17:56:37Z [12,198ms] [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: 2636011
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-08-13T17:56:40Z [15,065ms] [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.

2026-08-13T17:56:40Z [15,070ms] [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
>> 08-13 17:56:40 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
>> 08-13 17:56:40 [wpgen/setup] task=brush (Isaac-InsertClose-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_brush']
>> 08-13 17:56:40 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/brush/0723_14/annotation.json  source=nearest-neighbor per-episode (nn_k=3 over 6 demos)  subtasks=['grasp_brush', 'place_brush', 'push_seat']
2026-08-13T17:56:40Z [15,070ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
2026-08-13T17:56:40Z [15,070ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
2026-08-13T17:56:40Z [15,107ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
2026-08-13T17:56:55Z [30,003ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-13T17:56:55Z [30,003ms] [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: 2623965
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-08-13T17:56:55Z [30,943ms] [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: 2622245
| Total Page/Swap (MB): 0 | Free Page/Swap: 0
|---------------------------------------------------------------------------------------------|
2026-08-13T17:56:56Z [31,882ms] [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.

2026-08-13T17:56:56Z [31,886ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
sh: 1: zenity: not found
2026-08-13T17:56:56Z [31,963ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-13T17:56:56Z [31,963ms] [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)
2026-08-13T17:56:56Z [31,966ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
2026-08-13T17:56:56Z [31,972ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-13T17:56:56Z [31,972ms] [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)
2026-08-13T17:56:56Z [31,980ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
2026-08-13T17:56:56Z [31,980ms] [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)
2026-08-13T17:56:56Z [31,981ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
2026-08-13T17:56:57Z [32,428ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
2026-08-13T17:56:57Z [32,469ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-08-13T17:56:57Z [32,469ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
2026-08-13T17:56:57Z [32,475ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
2026-08-13T17:56:57Z [32,475ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
[INFO]: Parsing configuration from: nimble.brain.sim.mimic.insert_mimic_env_cfg:InsertCloseMimicEnvCfg

======================================================================================
[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-13_17-56-57.log
======================================================================================

17:56:57 [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.
[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 : 5.095249 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 : 1.665385 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     | scatter_clutter          |
+----------+--------------------------+

[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     | brush_pose            |   (7,)   |
|    8     | box_pose              |   (7,)   |
|    9     | lid_pos               |   (2,)   |
+----------+-----------------------+----------+
+------------------------------------------------+
| Active Observation Terms in Group: 'subtask_terms' |
+-----------+------------------------+-----------+
|   Index   | Name                   |   Shape   |
+-----------+------------------------+-----------+
|     0     | grasp_brush            |     ()    |
|     1     | brush_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...
>> 08-13 17:57:04 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
>> 08-13 17:57:04 [env] widened J4 limit to +-88deg
>> 08-13 17:57:05 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
>> 08-13 17:57:05 [wpgen/setup] companions table: bottles = 4 object(s), in-tray 0/2048 env-objects
>> 08-13 17:57:05 [wpgen/setup] companions table: boxes = 4 object(s), in-tray 0/2048 env-objects
>> 08-13 17:57:06 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_brush=46mm
>> 08-13 17:57:06 [wpgen/setup] BATCHED: num_envs=512, target 400 successes, max_attempts 4000 rollouts
>> 08-13 17:57:44 [gen] step 40: lag=34/41mm(med/max)  ORI=1/1deg(med/p90)  j2sat=0.09/0.09(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=384mm(med) grip=0/512  brush->pocket=225/265mm(med/p90)
>> 08-13 17:58:13 [gen] step 80: lag=19/305mm(med/max)  ORI=1/2deg(med/p90)  j4sat=0.21/0.06(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=189mm(med) grip=0/512  brush->pocket=225/265mm(med/p90)
>> 08-13 17:58:41 [gen] step 120: lag=0/665mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.12/-0.00(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=101mm(med) grip=0/512  brush->pocket=225/265mm(med/p90)
>> 08-13 17:59:11 [gen] step 160: lag=8/657mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.14/-0.00(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=28mm(med) grip=0/512  brush->pocket=225/265mm(med/p90)
>> 08-13 17:59:43 [gen] step 200: lag=1/629mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.17/-0.00(med/min)  brush_tilt=0/2deg(med/p90)  eef->brush=18mm(med) grip=510/512  brush->pocket=218/265mm(med/p90)
>> 08-13 18:00:14 [gen] step 240: lag=1/629mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.17/-0.00(med/min)  brush_tilt=0/2deg(med/p90)  eef->brush=18mm(med) grip=510/512  brush->pocket=218/265mm(med/p90)
>> 08-13 18:00:51 [gen] step 280: lag=12/617mm(med/max)  ORI=0/2deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=1/3deg(med/p90)  eef->brush=19mm(med) grip=413/512  brush->pocket=238/275mm(med/p90)
>> 08-13 18:01:22 [gen] step 320: lag=2/617mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.10/-0.00(med/min)  brush_tilt=5/10deg(med/p90)  eef->brush=19mm(med) grip=416/512  brush->pocket=174/230mm(med/p90)
>> 08-13 18:01:56 [gen] step 360: lag=11/617mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.10/-0.00(med/min)  brush_tilt=6/13deg(med/p90)  eef->brush=19mm(med) grip=413/512  brush->pocket=158/230mm(med/p90)
>> 08-13 18:02:29 [gen] step 400: lag=8/617mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.09/-0.00(med/min)  brush_tilt=5/17deg(med/p90)  eef->brush=34mm(med) grip=0/512  brush->pocket=98/229mm(med/p90)
>> 08-13 18:03:00 [gen] step 440: lag=3/617mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.01/-0.00(med/min)  brush_tilt=5/30deg(med/p90)  eef->brush=117mm(med) grip=0/512  brush->pocket=98/229mm(med/p90)
>> 08-13 18:03:37 [gen] step 480: lag=0/617mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=3/32deg(med/p90)  eef->brush=98mm(med) grip=0/512  brush->pocket=97/229mm(med/p90)
>> 08-13 18:04:10 [gen] step 520: lag=5/617mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=3/34deg(med/p90)  eef->brush=89mm(med) grip=0/512  brush->pocket=96/229mm(med/p90)
>> 08-13 18:04:41 [gen] step 560: lag=4/617mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.07/-0.00(med/min)  brush_tilt=1/41deg(med/p90)  eef->brush=25mm(med) grip=347/512  brush->pocket=96/229mm(med/p90)
>> 08-13 18:05:16 [gen] step 600: lag=8/617mm(med/max)  ORI=1/2deg(med/p90)  j4sat=0.05/-0.00(med/min)  brush_tilt=4/52deg(med/p90)  eef->brush=105mm(med) grip=54/512  brush->pocket=96/229mm(med/p90)
>> 08-13 18:05:26 [wpgen/press] push_seat: peak press force N  all med=5.19 max=182.13  CONTACT n=291/512 med=7.39 p90=39.40 max=182.13  (gate 50.00 <= f <= 80.00)
>> 08-13 18:05:48 [gen] step 640: lag=0/617mm(med/max)  ORI=0/2deg(med/p90)  j4sat=0.04/-0.00(med/min)  brush_tilt=4/52deg(med/p90)  eef->brush=127mm(med) grip=53/512  brush->pocket=96/229mm(med/p90)
>> 08-13 18:07:04 [wpgen/progress] batch 1: 107/512 succeeded  running 107/400  (512 rollouts)
>> 08-13 18:07:38 [gen] step 680: lag=21/25mm(med/max)  ORI=0/0deg(med/p90)  j2sat=0.09/0.09(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=384mm(med) grip=0/512  brush->pocket=227/274mm(med/p90)
>> 08-13 18:08:07 [gen] step 720: lag=18/77mm(med/max)  ORI=1/2deg(med/p90)  j3sat=0.23/0.09(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=206mm(med) grip=0/512  brush->pocket=227/274mm(med/p90)
>> 08-13 18:08:35 [gen] step 760: lag=0/28mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.12/0.03(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=100mm(med) grip=0/512  brush->pocket=227/274mm(med/p90)
>> 08-13 18:09:06 [gen] step 800: lag=7/19mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.16/0.03(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=23mm(med) grip=0/512  brush->pocket=227/274mm(med/p90)
>> 08-13 18:09:37 [gen] step 840: lag=1/13mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.17/0.05(med/min)  brush_tilt=0/3deg(med/p90)  eef->brush=19mm(med) grip=510/512  brush->pocket=221/270mm(med/p90)
>> 08-13 18:10:10 [gen] step 880: lag=5/16mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.17/0.06(med/min)  brush_tilt=1/1deg(med/p90)  eef->brush=18mm(med) grip=509/512  brush->pocket=230/279mm(med/p90)
>> 08-13 18:10:47 [gen] step 920: lag=12/23mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=1/2deg(med/p90)  eef->brush=23mm(med) grip=411/512  brush->pocket=216/250mm(med/p90)
>> 08-13 18:11:18 [gen] step 960: lag=2/92mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.10/-0.00(med/min)  brush_tilt=5/10deg(med/p90)  eef->brush=23mm(med) grip=415/512  brush->pocket=174/225mm(med/p90)
>> 08-13 18:11:50 [gen] step 1000: lag=2/284mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.10/-0.00(med/min)  brush_tilt=5/10deg(med/p90)  eef->brush=23mm(med) grip=415/512  brush->pocket=174/225mm(med/p90)
>> 08-13 18:12:20 [gen] step 1040: lag=2/285mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.10/0.00(med/min)  brush_tilt=5/10deg(med/p90)  eef->brush=23mm(med) grip=415/512  brush->pocket=174/225mm(med/p90)
>> 08-13 18:12:56 [gen] step 1080: lag=6/214mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.10/-0.00(med/min)  brush_tilt=4/14deg(med/p90)  eef->brush=23mm(med) grip=411/512  brush->pocket=108/222mm(med/p90)
>> 08-13 18:13:27 [gen] step 1120: lag=5/203mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.05/-0.00(med/min)  brush_tilt=3/30deg(med/p90)  eef->brush=69mm(med) grip=0/512  brush->pocket=98/222mm(med/p90)
>> 08-13 18:14:02 [gen] step 1160: lag=4/179mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.01/-0.00(med/min)  brush_tilt=3/31deg(med/p90)  eef->brush=106mm(med) grip=0/512  brush->pocket=97/222mm(med/p90)
>> 08-13 18:14:35 [gen] step 1200: lag=0/179mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=3/31deg(med/p90)  eef->brush=98mm(med) grip=0/512  brush->pocket=97/222mm(med/p90)
>> 08-13 18:15:07 [gen] step 1240: lag=8/179mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.05/-0.00(med/min)  brush_tilt=3/33deg(med/p90)  eef->brush=56mm(med) grip=139/512  brush->pocket=97/222mm(med/p90)
>> 08-13 18:15:39 [gen] step 1280: lag=4/179mm(med/max)  ORI=1/2deg(med/p90)  j4sat=0.07/-0.00(med/min)  brush_tilt=0/40deg(med/p90)  eef->brush=25mm(med) grip=342/512  brush->pocket=96/222mm(med/p90)
>> 08-13 18:16:14 [wpgen/press] push_seat: peak press force N  all med=4.93 max=153.30  CONTACT n=278/512 med=7.58 p90=27.97 max=153.30  (gate 50.00 <= f <= 80.00)
>> 08-13 18:16:15 [gen] step 1320: lag=1/179mm(med/max)  ORI=0/2deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=4/47deg(med/p90)  eef->brush=127mm(med) grip=47/512  brush->pocket=96/222mm(med/p90)
>> 08-13 18:17:54 [wpgen/progress] batch 2: 92/512 succeeded  running 199/400  (1024 rollouts)
>> 08-13 18:18:30 [gen] step 1360: lag=34/41mm(med/max)  ORI=1/1deg(med/p90)  j2sat=0.09/0.09(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=385mm(med) grip=0/512  brush->pocket=229/275mm(med/p90)
>> 08-13 18:18:57 [gen] step 1400: lag=19/108mm(med/max)  ORI=1/2deg(med/p90)  j4sat=0.21/0.11(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=189mm(med) grip=0/512  brush->pocket=229/275mm(med/p90)
>> 08-13 18:19:24 [gen] step 1440: lag=0/33mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.12/0.02(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=94mm(med) grip=0/512  brush->pocket=229/275mm(med/p90)
>> 08-13 18:19:55 [gen] step 1480: lag=7/24mm(med/max)  ORI=1/2deg(med/p90)  j4sat=0.16/0.01(med/min)  brush_tilt=0/3deg(med/p90)  eef->brush=24mm(med) grip=152/512  brush->pocket=230/276mm(med/p90)
>> 08-13 18:20:26 [gen] step 1520: lag=1/13mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.17/0.03(med/min)  brush_tilt=0/3deg(med/p90)  eef->brush=18mm(med) grip=512/512  brush->pocket=222/271mm(med/p90)
>> 08-13 18:21:04 [gen] step 1560: lag=10/14mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.16/0.03(med/min)  brush_tilt=1/1deg(med/p90)  eef->brush=16mm(med) grip=511/512  brush->pocket=234/278mm(med/p90)
>> 08-13 18:21:34 [gen] step 1600: lag=12/26mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.04/-0.00(med/min)  brush_tilt=1/3deg(med/p90)  eef->brush=19mm(med) grip=421/512  brush->pocket=202/240mm(med/p90)
>> 08-13 18:22:05 [gen] step 1640: lag=2/15mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.10/0.02(med/min)  brush_tilt=5/10deg(med/p90)  eef->brush=20mm(med) grip=422/512  brush->pocket=174/221mm(med/p90)
>> 08-13 18:22:39 [gen] step 1680: lag=4/22mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.10/-0.00(med/min)  brush_tilt=4/13deg(med/p90)  eef->brush=20mm(med) grip=415/512  brush->pocket=103/221mm(med/p90)
>> 08-13 18:23:11 [gen] step 1720: lag=5/26mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.04/0.00(med/min)  brush_tilt=6/31deg(med/p90)  eef->brush=81mm(med) grip=0/512  brush->pocket=98/220mm(med/p90)
>> 08-13 18:23:46 [gen] step 1760: lag=5/27mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.02/-0.00(med/min)  brush_tilt=5/34deg(med/p90)  eef->brush=100mm(med) grip=0/512  brush->pocket=97/220mm(med/p90)
>> 08-13 18:24:17 [gen] step 1800: lag=0/15mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=4/36deg(med/p90)  eef->brush=98mm(med) grip=0/512  brush->pocket=96/220mm(med/p90)
>> 08-13 18:24:50 [gen] step 1840: lag=8/28mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.06/-0.00(med/min)  brush_tilt=3/38deg(med/p90)  eef->brush=34mm(med) grip=335/512  brush->pocket=96/220mm(med/p90)
>> 08-13 18:25:25 [gen] step 1880: lag=13/24mm(med/max)  ORI=1/2deg(med/p90)  j4sat=0.07/-0.00(med/min)  brush_tilt=2/46deg(med/p90)  eef->brush=25mm(med) grip=360/512  brush->pocket=96/220mm(med/p90)
>> 08-13 18:25:52 [wpgen/press] push_seat: peak press force N  all med=5.33 max=158.02  CONTACT n=289/512 med=7.80 p90=52.69 max=158.02  (gate 50.00 <= f <= 80.00)
>> 08-13 18:25:57 [gen] step 1920: lag=0/22mm(med/max)  ORI=0/2deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=4/55deg(med/p90)  eef->brush=127mm(med) grip=60/512  brush->pocket=96/220mm(med/p90)
>> 08-13 18:28:05 [wpgen/progress] batch 3: 118/512 succeeded  running 317/400  (1536 rollouts)
>> 08-13 18:28:15 [gen] step 1960: lag=91/91mm(med/max)  ORI=2/2deg(med/p90)  j2sat=0.08/0.08(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=370mm(med) grip=0/512  brush->pocket=228/268mm(med/p90)
>> 08-13 18:28:52 [gen] step 2000: lag=46/95mm(med/max)  ORI=2/2deg(med/p90)  j2sat=0.15/0.09(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=343mm(med) grip=0/512  brush->pocket=228/268mm(med/p90)
>> 08-13 18:29:20 [gen] step 2040: lag=22/400mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.16/0.04(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=119mm(med) grip=0/512  brush->pocket=228/268mm(med/p90)
>> 08-13 18:29:49 [gen] step 2080: lag=0/709mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.11/-0.00(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=102mm(med) grip=0/512  brush->pocket=228/267mm(med/p90)
>> 08-13 18:30:20 [gen] step 2120: lag=5/796mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.15/-0.00(med/min)  brush_tilt=0/0deg(med/p90)  eef->brush=21mm(med) grip=52/512  brush->pocket=229/267mm(med/p90)
>> 08-13 18:30:53 [gen] step 2160: lag=1/798mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.16/-0.00(med/min)  brush_tilt=0/2deg(med/p90)  eef->brush=17mm(med) grip=510/512  brush->pocket=220/265mm(med/p90)
>> 08-13 18:31:31 [gen] step 2200: lag=4/794mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.17/-0.00(med/min)  brush_tilt=1/1deg(med/p90)  eef->brush=17mm(med) grip=509/512  brush->pocket=230/275mm(med/p90)
>> 08-13 18:32:02 [gen] step 2240: lag=11/674mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=1/3deg(med/p90)  eef->brush=19mm(med) grip=416/512  brush->pocket=211/244mm(med/p90)
>> 08-13 18:32:33 [gen] step 2280: lag=2/556mm(med/max)  ORI=0/0deg(med/p90)  j4sat=0.10/-0.00(med/min)  brush_tilt=5/10deg(med/p90)  eef->brush=19mm(med) grip=423/512  brush->pocket=173/223mm(med/p90)
>> 08-13 18:33:06 [gen] step 2320: lag=9/556mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.09/-0.00(med/min)  brush_tilt=6/13deg(med/p90)  eef->brush=19mm(med) grip=415/512  brush->pocket=140/223mm(med/p90)
>> 08-13 18:33:38 [gen] step 2360: lag=9/556mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.08/-0.00(med/min)  brush_tilt=5/15deg(med/p90)  eef->brush=44mm(med) grip=0/512  brush->pocket=98/221mm(med/p90)
>> 08-13 18:34:14 [gen] step 2400: lag=1/556mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.01/-0.00(med/min)  brush_tilt=3/21deg(med/p90)  eef->brush=115mm(med) grip=0/512  brush->pocket=97/221mm(med/p90)
>> 08-13 18:34:45 [gen] step 2440: lag=0/556mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=3/30deg(med/p90)  eef->brush=98mm(med) grip=0/512  brush->pocket=96/221mm(med/p90)
>> 08-13 18:35:21 [gen] step 2480: lag=7/556mm(med/max)  ORI=0/1deg(med/p90)  j4sat=0.03/-0.00(med/min)  brush_tilt=3/32deg(med/p90)  eef->brush=85mm(med) grip=0/512  brush->pocket=96/221mm(med/p90)
>> 08-13 18:35:51 [gen] step 2520: lag=5/556mm(med/max)  ORI=1/1deg(med/p90)  j4sat=0.06/-0.00(med/min)  brush_tilt=0/36deg(med/p90)  eef->brush=25mm(med) grip=355/512  brush->pocket=96/221mm(med/p90)
>> 08-13 18:36:22 [gen] step 2560: lag=8/556mm(med/max)  ORI=1/2deg(med/p90)  j4sat=0.04/-0.00(med/min)  brush_tilt=4/47deg(med/p90)  eef->brush=124mm(med) grip=44/512  brush->pocket=96/221mm(med/p90)
>> 08-13 18:36:32 [wpgen/press] push_seat: peak press force N  all med=5.47 max=179.59  CONTACT n=304/512 med=7.81 p90=36.57 max=179.59  (gate 50.00 <= f <= 80.00)
>> 08-13 18:38:49 [wpgen/progress] batch 4: 93/512 succeeded  running 410/400  (2048 rollouts)
>> 08-13 18:38:49 [wpgen/done] DONE (batched): 410 successes in 2048 rollouts (4 batches of 512).
>> 08-13 18:38:49 [wpgen/done] OUTCOMES: success 410 | fail@[push_seat 996, place_brush 630, grasp_brush 12]  (fail rate 1638/2048 = 80%)
2026-08-13T17:56:57Z [32,627ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
2026-08-13T17:56:57Z [32,631ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
2026-08-13T18:38:49Z [2,544,756ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!