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+ 
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+ 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'
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+ [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_185148.log
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+ 2026-08-11T18:51:48Z [86ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
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+ 2026-08-11T18:51:48Z [352ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
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+ 2026-08-11T18:51:48Z [469ms] [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.
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+ 2026-08-11T18:51:48Z [479ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-08-11T18:51:58Z [9,868ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
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+ 2026-08-11T18:51:58Z [9,868ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
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+ 2026-08-11T18:51:58Z [9,868ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
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+ 2026-08-11T18:52:02Z [14,534ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,534ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,535ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,535ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,536ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,536ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,583ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,583ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,619ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,619ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,666ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,666ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,708ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 486360fa.. |
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
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+ [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.
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+ [INFO][AppLauncher]: Using device: cuda
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+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
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+ >> 08-11 18:52:04 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
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+ >> 08-11 18:52:04 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
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+ >> 08-11 18:52:04 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
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+ >> 08-11 18:52:04 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
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+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 88cabb84.. |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
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+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
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+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
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+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
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+ | Total Memory (MB): 2922999 | Free Memory: 2692717
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+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-08-11T18:52:04Z [16,244ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
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+ 2026-08-11T18:52:04Z [16,294ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
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+ 2026-08-11T18:52:19Z [30,821ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:19Z [30,821ms] [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)
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+ 2026-08-11T18:52:19Z [31,000ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,000ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,001ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,001ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,003ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,003ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,006ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,006ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,007ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,007ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,008ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,008ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:19Z [31,009ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |=============================================================================================|
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+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ | | | | | | Device-ID | UUID |
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+ | | | | | | Bus-ID | |
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+ | 0 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 95a5621d.. |
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+ | | | | | | 63 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 1 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | 2 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | f78282a5.. |
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+ | | | | | | 71 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-21.log
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+ ======================================================================================
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+
166
+ 18:52:21 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
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+ Environment seed : None
170
+ Physics step-size : 0.0020833333333333333
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+ Rendering step-size : 0.016666666666666666
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+ Environment step-size : 0.016666666666666666
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+ [INFO]: Time taken for scene creation : 4.942267 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
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+ Environment spacing : 3.0
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+ Source prim name : /World/envs/env_0
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+ Global prim paths : []
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+ Replicate physics : True
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+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 1.710071 seconds
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+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
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+ +------------------------+
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+ | 2 | seat_bottles |
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+ +----------+--------------------------+
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+ [INFO] Recorder Manager: <RecorderManager> contains 6 active terms.
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+ | 3 | record_pre_step_flat_policy_observations |
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+ | 4 | record_post_step_processed_actions |
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+ | 5 | record_post_step_joint_commands |
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+
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+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
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+ | 1 | right_gripper | 1 |
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+ +-------+---------------+-----------+
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+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
226
+ +----------------------------------------------+
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+ | Index | Name | Shape |
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+ | 3 | right_eef_pos | (3,) |
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+ | 4 | right_eef_quat | (4,) |
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+ | 5 | left_gripper | (1,) |
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+ | 6 | right_gripper | (1,) |
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+ | 7 | box_pose | (7,) |
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+ | 8 | smallbox_0_pose | (7,) |
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+ | 9 | smallbox_1_pose | (7,) |
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+ | 10 | smallbox_2_pose | (7,) |
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+ | 11 | smallbox_3_pose | (7,) |
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+ +----------+------------------------+----------+
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+ | 3 | smallbox_1_placed | () |
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+ | 4 | grasp_smallbox_2 | () |
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+ | 5 | smallbox_2_placed | () |
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+ | 6 | grasp_smallbox_3 | () |
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+ | 7 | smallbox_3_placed | () |
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+ +----------+-----------------------------+----------+
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+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
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+
284
+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:28 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:28 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:29 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:29 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:29 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:29 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:29 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:29 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:29 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:29 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:12 [gen] step 40: lag=35/41mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=385mm [----] smallbox_3->pocket=273mm
296
+ >> 08-11 18:53:45 [gen] step 80: lag=20/121mm(med/max) ORI=1deg j2=17deg(sat0.10) smallbox_3_tilt=1deg eef->smallbox_3=227mm [----] smallbox_3->pocket=273mm
297
+ >> 08-11 18:54:18 [gen] step 120: lag=4/62mm(med/max) ORI=0deg j4=78deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=85mm [----] smallbox_3->pocket=273mm
298
+ >> 08-11 18:54:53 [gen] step 160: lag=8/38mm(med/max) ORI=1deg j4=60deg(sat0.16) smallbox_3_tilt=1deg eef->smallbox_3=24mm [----] smallbox_3->pocket=273mm
299
+ >> 08-11 18:55:28 [gen] step 200: lag=3/69mm(med/max) ORI=0deg j4=57deg(sat0.18) smallbox_3_tilt=1deg eef->smallbox_3=14mm [grip] smallbox_3->pocket=278mm
300
+ >> 08-11 18:56:05 [gen] step 240: lag=3/60mm(med/max) ORI=0deg j4=57deg(sat0.18) smallbox_3_tilt=1deg eef->smallbox_3=14mm [grip] smallbox_3->pocket=278mm
301
+ >> 08-11 18:56:42 [gen] step 280: lag=3/60mm(med/max) ORI=0deg j4=57deg(sat0.18) smallbox_3_tilt=1deg eef->smallbox_3=14mm [grip] smallbox_3->pocket=279mm
302
+ >> 08-11 18:57:25 [gen] step 320: lag=11/61mm(med/max) ORI=0deg j4=85deg(sat0.02) smallbox_3_tilt=1deg eef->smallbox_3=14mm [grip] smallbox_3->pocket=306mm
303
+ >> 08-11 18:58:03 [gen] step 360: lag=13/63mm(med/max) ORI=2deg j4=88deg(sat0.00) smallbox_3_tilt=2deg eef->smallbox_3=14mm [grip] smallbox_3->pocket=159mm
304
+ >> 08-11 18:58:37 [gen] step 400: lag=2/61mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_3_tilt=7deg eef->smallbox_3=14mm [grip] smallbox_3->pocket=136mm
305
+ >> 08-11 18:59:16 [gen] step 440: lag=7/61mm(med/max) ORI=1deg j4=78deg(sat0.06) smallbox_3_tilt=6deg eef->smallbox_3=14mm [grip] smallbox_3->pocket=65mm
306
+ >> 08-11 18:59:52 [gen] step 480: lag=3/61mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_3_tilt=17deg eef->smallbox_3=73mm [----] smallbox_3->pocket=55mm
307
+ >> 08-11 19:00:38 [gen] step 520: lag=5/61mm(med/max) ORI=0deg j4=77deg(sat0.07) smallbox_3_tilt=1deg eef->smallbox_3=66mm [----] smallbox_3->pocket=51mm
308
+ >> 08-11 19:01:14 [gen] step 560: lag=0/61mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_3_tilt=1deg eef->smallbox_3=63mm [----] smallbox_3->pocket=52mm
309
+ >> 08-11 19:01:52 [gen] step 600: lag=1/61mm(med/max) ORI=0deg j4=78deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=35mm [grip] smallbox_3->pocket=52mm
310
+ >> 08-11 19:02:29 [gen] step 640: lag=3/61mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=29mm [grip] smallbox_3->pocket=52mm
311
+ >> 08-11 19:03:03 [wpgen/press] push_seat_3: peak press force N all med=1.20 max=34.74 CONTACT n=317/512 med=5.20 p90=20.78 max=34.74 (gate 1.50 <= f <= 20.00)
312
+ >> 08-11 19:03:11 [gen] step 680: lag=0/61mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=28mm [grip] smallbox_3->pocket=52mm
313
+ >> 08-11 19:05:31 [wpgen/progress] batch 1 (cube b3): 120/512 kept running 120/400 (512 rollouts)
314
+ >> 08-11 19:05:45 [gen] step 720: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=378mm [----] smallbox_0->pocket=219mm
315
+ >> 08-11 19:06:27 [gen] step 760: lag=75/128mm(med/max) ORI=2deg j2=15deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=396mm [----] smallbox_0->pocket=218mm
316
+ >> 08-11 19:07:02 [gen] step 800: lag=23/98mm(med/max) ORI=1deg j4=73deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=116mm [----] smallbox_0->pocket=218mm
317
+ >> 08-11 19:07:40 [gen] step 840: lag=8/24mm(med/max) ORI=0deg j4=57deg(sat0.17) smallbox_0_tilt=1deg eef->smallbox_0=17mm [----] smallbox_0->pocket=218mm
318
+ >> 08-11 19:08:15 [gen] step 880: lag=3/76mm(med/max) ORI=0deg j3=-28deg(sat0.16) smallbox_0_tilt=5deg eef->smallbox_0=24mm [grip] smallbox_0->pocket=220mm
319
+ >> 08-11 19:08:52 [gen] step 920: lag=3/83mm(med/max) ORI=0deg j3=-28deg(sat0.16) smallbox_0_tilt=5deg eef->smallbox_0=23mm [grip] smallbox_0->pocket=221mm
320
+ >> 08-11 19:09:28 [gen] step 960: lag=3/103mm(med/max) ORI=0deg j3=-28deg(sat0.16) smallbox_0_tilt=5deg eef->smallbox_0=24mm [grip] smallbox_0->pocket=221mm
321
+ >> 08-11 19:10:11 [gen] step 1000: lag=12/106mm(med/max) ORI=0deg j3=-30deg(sat0.18) smallbox_0_tilt=5deg eef->smallbox_0=24mm [grip] smallbox_0->pocket=221mm
322
+ >> 08-11 19:10:48 [gen] step 1040: lag=14/105mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_0_tilt=5deg eef->smallbox_0=23mm [grip] smallbox_0->pocket=182mm
323
+ >> 08-11 19:11:23 [gen] step 1080: lag=5/105mm(med/max) ORI=0deg j4=70deg(sat0.10) smallbox_0_tilt=8deg eef->smallbox_0=23mm [grip] smallbox_0->pocket=162mm
324
+ >> 08-11 19:12:02 [gen] step 1120: lag=7/105mm(med/max) ORI=0deg j4=67deg(sat0.12) smallbox_0_tilt=8deg eef->smallbox_0=23mm [grip] smallbox_0->pocket=135mm
325
+ >> 08-11 19:12:38 [gen] step 1160: lag=5/105mm(med/max) ORI=3deg j4=57deg(sat0.18) smallbox_0_tilt=26deg eef->smallbox_0=24mm [----] smallbox_0->pocket=57mm
326
+ >> 08-11 19:13:20 [gen] step 1200: lag=10/105mm(med/max) ORI=0deg j4=80deg(sat0.04) smallbox_0_tilt=24deg eef->smallbox_0=98mm [----] smallbox_0->pocket=56mm
327
+ >> 08-11 19:13:55 [gen] step 1240: lag=0/105mm(med/max) ORI=0deg j4=70deg(sat0.11) smallbox_0_tilt=21deg eef->smallbox_0=46mm [grip] smallbox_0->pocket=54mm
328
+ >> 08-11 19:14:32 [gen] step 1280: lag=4/105mm(med/max) ORI=1deg j4=66deg(sat0.13) smallbox_0_tilt=1deg eef->smallbox_0=23mm [grip] smallbox_0->pocket=50mm
329
+ >> 08-11 19:15:09 [gen] step 1320: lag=5/105mm(med/max) ORI=1deg j4=70deg(sat0.11) smallbox_0_tilt=1deg eef->smallbox_0=36mm [grip] smallbox_0->pocket=50mm
330
+ >> 08-11 19:15:44 [gen] step 1360: lag=0/105mm(med/max) ORI=0deg j4=71deg(sat0.10) smallbox_0_tilt=1deg eef->smallbox_0=46mm [grip] smallbox_0->pocket=50mm
331
+ >> 08-11 19:15:52 [wpgen/press] push_seat_0: peak press force N all med=1.41 max=38.63 CONTACT n=324/512 med=5.49 p90=19.11 max=38.63 (gate 1.50 <= f <= 20.00)
332
+ >> 08-11 19:16:20 [gen] step 1400: lag=1/105mm(med/max) ORI=0deg j4=80deg(sat0.04) smallbox_0_tilt=1deg eef->smallbox_0=89mm [----] smallbox_0->pocket=50mm
333
+ >> 08-11 19:18:44 [wpgen/progress] batch 2 (cube b0): 139/512 kept running 259/400 (1024 rollouts)
334
+ >> 08-11 19:19:25 [gen] step 1440: lag=34/41mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_0_tilt=1deg eef->smallbox_0=380mm [----] smallbox_0->pocket=233mm
335
+ >> 08-11 19:20:00 [gen] step 1480: lag=19/110mm(med/max) ORI=4deg j5=72deg(sat0.10) smallbox_2_tilt=1deg eef->smallbox_2=288mm [----] smallbox_2->pocket=206mm
336
+ >> 08-11 19:20:35 [gen] step 1520: lag=3/62mm(med/max) ORI=1deg j4=75deg(sat0.07) smallbox_2_tilt=1deg eef->smallbox_2=129mm [----] smallbox_2->pocket=206mm
337
+ >> 08-11 19:21:12 [gen] step 1560: lag=7/41mm(med/max) ORI=2deg j4=61deg(sat0.15) smallbox_2_tilt=1deg eef->smallbox_2=8mm [----] smallbox_2->pocket=206mm
338
+ >> 08-11 19:21:49 [gen] step 1600: lag=3/58mm(med/max) ORI=11deg j4=84deg(sat0.02) smallbox_2_tilt=1deg eef->smallbox_2=21mm [grip] smallbox_2->pocket=211mm
339
+ >> 08-11 19:22:25 [gen] step 1640: lag=3/100mm(med/max) ORI=1deg j4=51deg(sat0.21) smallbox_2_tilt=2deg eef->smallbox_2=37mm [grip] smallbox_2->pocket=231mm
340
+ >> 08-11 19:23:02 [gen] step 1680: lag=4/103mm(med/max) ORI=0deg j4=50deg(sat0.21) smallbox_2_tilt=1deg eef->smallbox_2=39mm [grip] smallbox_2->pocket=232mm
341
+ >> 08-11 19:23:44 [gen] step 1720: lag=12/101mm(med/max) ORI=0deg j4=78deg(sat0.05) smallbox_2_tilt=1deg eef->smallbox_2=119mm [----] smallbox_2->pocket=236mm
342
+ >> 08-11 19:24:21 [gen] step 1760: lag=12/100mm(med/max) ORI=1deg j4=82deg(sat0.04) smallbox_1_tilt=1deg eef->smallbox_1=101mm [----] smallbox_1->pocket=230mm
343
+ >> 08-11 19:24:56 [gen] step 1800: lag=2/100mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=82mm [----] smallbox_1->pocket=230mm
344
+ >> 08-11 19:25:36 [gen] step 1840: lag=7/99mm(med/max) ORI=0deg j4=71deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=100mm [----] smallbox_3->pocket=150mm
345
+ >> 08-11 19:26:12 [gen] step 1880: lag=3/99mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=84mm [----] smallbox_3->pocket=157mm
346
+ >> 08-11 19:26:56 [gen] step 1920: lag=4/99mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=87mm [----] smallbox_3->pocket=157mm
347
+ >> 08-11 19:27:34 [gen] step 1960: lag=8/99mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=87mm [----] smallbox_3->pocket=157mm
348
+ >> 08-11 19:28:12 [gen] step 2000: lag=1/99mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=87mm [----] smallbox_3->pocket=157mm
349
+ >> 08-11 19:28:50 [gen] step 2040: lag=1/99mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=87mm [----] smallbox_3->pocket=157mm
350
+ >> 08-11 19:29:14 [wpgen/press] push_seat_2: peak press force N all med=1.20 max=48.32 CONTACT n=296/512 med=5.15 p90=17.77 max=48.32 (gate 1.50 <= f <= 20.00)
351
+ >> 08-11 19:29:32 [gen] step 2080: lag=2/98mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=87mm [----] smallbox_3->pocket=157mm
352
+ >> 08-11 19:32:26 [wpgen/progress] batch 3 (cube b2): 124/512 kept running 383/400 (1536 rollouts)
353
+ >> 08-11 19:32:49 [gen] step 2120: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_1_tilt=1deg eef->smallbox_1=397mm [----] smallbox_1->pocket=191mm
354
+ >> 08-11 19:33:30 [gen] step 2160: lag=39/141mm(med/max) ORI=1deg j2=42deg(sat0.24) smallbox_1_tilt=1deg eef->smallbox_1=414mm [----] smallbox_1->pocket=191mm
355
+ >> 08-11 19:34:05 [gen] step 2200: lag=23/52mm(med/max) ORI=1deg j4=66deg(sat0.13) smallbox_1_tilt=1deg eef->smallbox_1=160mm [----] smallbox_1->pocket=191mm
356
+ >> 08-11 19:34:42 [gen] step 2240: lag=8/27mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_1_tilt=1deg eef->smallbox_1=58mm [----] smallbox_1->pocket=191mm
357
+ >> 08-11 19:35:19 [gen] step 2280: lag=3/84mm(med/max) ORI=0deg j4=70deg(sat0.10) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=189mm
358
+ >> 08-11 19:35:56 [gen] step 2320: lag=3/65mm(med/max) ORI=0deg j4=70deg(sat0.10) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=189mm
359
+ >> 08-11 19:36:31 [gen] step 2360: lag=3/65mm(med/max) ORI=0deg j4=70deg(sat0.10) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=189mm
360
+ >> 08-11 19:37:16 [gen] step 2400: lag=14/44mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=208mm
361
+ >> 08-11 19:37:52 [gen] step 2440: lag=14/49mm(med/max) ORI=1deg j4=88deg(sat0.00) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=126mm
362
+ >> 08-11 19:38:29 [gen] step 2480: lag=3/53mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_1_tilt=8deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=86mm
363
+ >> 08-11 19:39:06 [gen] step 2520: lag=7/35mm(med/max) ORI=1deg j4=71deg(sat0.10) smallbox_1_tilt=3deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=47mm
364
+ >> 08-11 19:39:45 [gen] step 2560: lag=6/23mm(med/max) ORI=0deg j4=75deg(sat0.08) smallbox_1_tilt=46deg eef->smallbox_1=20mm [grip] smallbox_1->pocket=40mm
365
+ >> 08-11 19:40:27 [gen] step 2600: lag=9/38mm(med/max) ORI=0deg j4=88deg(sat0.00) smallbox_1_tilt=45deg eef->smallbox_1=76mm [----] smallbox_1->pocket=40mm
366
+ >> 08-11 19:41:02 [gen] step 2640: lag=0/28mm(med/max) ORI=0deg j4=88deg(sat-0.00) smallbox_1_tilt=45deg eef->smallbox_1=75mm [----] smallbox_1->pocket=40mm
367
+ >> 08-11 19:41:44 [gen] step 2680: lag=2/35mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_1_tilt=1deg eef->smallbox_1=27mm [grip] smallbox_1->pocket=43mm
368
+ >> 08-11 19:42:19 [gen] step 2720: lag=4/25mm(med/max) ORI=1deg j4=74deg(sat0.08) smallbox_1_tilt=1deg eef->smallbox_1=41mm [grip] smallbox_1->pocket=43mm
369
+ >> 08-11 19:42:55 [gen] step 2760: lag=0/23mm(med/max) ORI=1deg j4=66deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=43mm
370
+ >> 08-11 19:42:55 [wpgen/press] push_seat_1: peak press force N all med=1.51 max=53.03 CONTACT n=328/512 med=5.21 p90=19.97 max=53.03 (gate 1.50 <= f <= 20.00)
371
+ >> 08-11 19:46:17 [wpgen/progress] batch 4 (cube b1): 127/512 kept running 510/400 (2048 rollouts)
372
+ >> 08-11 19:46:17 [wpgen/done] DONE (batched chunks): 510/400 kept in 2048 rollouts (4 batches of 512). success 510 | fail@[push_seat_3 171, place_smallbox_3 194, motion:right_arm:j5_pos 34, grasp_smallbox_3 14, push_seat_0 180, grasp_smallbox_0 41, place_smallbox_0 148, motion:right_arm:j1_acc 1, place_smallbox_2 167, push_seat_2 169, grasp_smallbox_2 42, push_seat_1 199, place_smallbox_1 175, grasp_smallbox_1 2, motion:right_arm:j4_acc 1] (fail rate 1538/2048 = 75%)
373
+ >> 08-11 19:46:17 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
374
+ >> 08-11 19:46:17 [wpgen/done] b0->s0: 31 [ 128, 24%] b0->s1: 32 [ 128, 25%] b0->s2: 33 [ 128, 26%] b0->s3: 43 [ 128, 34%] | b0 total 139
375
+ >> 08-11 19:46:17 [wpgen/done] b1->s0: 33 [ 128, 26%] b1->s1: 28 [ 128, 22%] b1->s2: 31 [ 128, 24%] b1->s3: 35 [ 128, 27%] | b1 total 127
376
+ >> 08-11 19:46:17 [wpgen/done] b2->s0: 24 [ 128, 19%] b2->s1: 28 [ 128, 22%] b2->s2: 34 [ 128, 27%] b2->s3: 38 [ 128, 30%] | b2 total 124
377
+ >> 08-11 19:46:17 [wpgen/done] b3->s0: 25 [ 128, 20%] b3->s1: 29 [ 128, 23%] b3->s2: 28 [ 128, 22%] b3->s3: 38 [ 128, 30%] | b3 total 120
378
+ >> 08-11 19:46:17 [wpgen/done] per-slot totals: s0= 113 s1= 117 s2= 126 s3= 154
379
+ >> 08-11 19:46:17 [wpgen/done] balance: min 24, max 43 per pair (1.8x spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
380
+ | | | | 2901 | 486360fa.. |
381
+ | | | | | | 8d | |
382
+ |---------------------------------------------------------------------------------------------|
383
+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
384
+ | | | | | | 2901 | 88cabb84.. |
385
+ | | | | | | 95 | |
386
+ |=============================================================================================|
387
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
388
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
389
+ | Cores: 104 | Logical Cores: 208
390
+ |---------------------------------------------------------------------------------------------|
391
+ | Total Memory (MB): 2922999 | Free Memory: 2672869
392
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
393
+ |---------------------------------------------------------------------------------------------|
394
+ 2026-08-11T18:52:20Z [31,915ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 0
395
+ 2026-08-11T18:52:20Z [32,325ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
396
+ 2026-08-11T18:52:20Z [32,325ms] [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)
397
+ 2026-08-11T18:52:20Z [32,349ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
398
+ 2026-08-11T18:52:20Z [32,349ms] [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)
399
+ 2026-08-11T18:52:20Z [32,363ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
400
+ 2026-08-11T18:52:20Z [32,363ms] [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)
401
+ 2026-08-11T18:52:20Z [32,372ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
402
+ 2026-08-11T18:52:20Z [32,372ms] [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)
403
+ 2026-08-11T18:52:20Z [32,374ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:20Z [32,374ms] [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)
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+ 2026-08-11T18:52:20Z [32,375ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:21Z [32,928ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
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+ 2026-08-11T18:52:21Z [33,147ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
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+ 
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+ 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'
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+ [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_185148.log
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5
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+ 2026-08-11T18:51:48Z [469ms] [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.
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+ 2026-08-11T18:51:48Z [478ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-08-11T18:52:02Z [14,240ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,240ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,242ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,242ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,280ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,280ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,313ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,313ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,326ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,326ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,355ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,355ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,362ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
74
+ [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.
75
+ [INFO][AppLauncher]: Using device: cuda
76
+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
77
+ >> 08-11 18:52:04 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
78
+ >> 08-11 18:52:04 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
79
+ >> 08-11 18:52:04 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
80
+ >> 08-11 18:52:04 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
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+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 88cabb84.. |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
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+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
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+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
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+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
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+ | Total Memory (MB): 2922999 | Free Memory: 2693130
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-08-11T18:52:04Z [16,062ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1
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+ 2026-08-11T18:52:04Z [16,136ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
96
+ 2026-08-11T18:52:06Z [18,018ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
97
+ 2026-08-11T18:52:06Z [18,018ms] [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)
98
+ 2026-08-11T18:52:06Z [18,147ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
99
+ 2026-08-11T18:52:06Z [18,147ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
100
+ 2026-08-11T18:52:06Z [18,149ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,149ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
102
+ 2026-08-11T18:52:06Z [18,150ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
103
+ 2026-08-11T18:52:06Z [18,150ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
104
+ 2026-08-11T18:52:06Z [18,151ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
105
+ 2026-08-11T18:52:06Z [18,151ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
106
+ 2026-08-11T18:52:06Z [18,152ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,152ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:06Z [18,153ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,153ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
119
+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
120
+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
122
+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
124
+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
125
+ 2026-08-11T18:52:06Z [18,154ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
126
+
127
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128
+ | Driver Version: 580.126.20 | Graphics API: Vulkan
129
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130
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+ | | cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-08.log
164
+ ======================================================================================
165
+
166
+ 18:52:08 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
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170
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+ [INFO]: Time taken for scene creation : 4.694546 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
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+ Environment spacing : 3.0
177
+ Source prim name : /World/envs/env_0
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+ Global prim paths : []
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+ Replicate physics : True
180
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 2.372367 seconds
182
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183
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184
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202
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+ | 4 | record_post_step_processed_actions |
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+ | 5 | record_post_step_joint_commands |
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215
+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
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+ | 1 | right_gripper | 1 |
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+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
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+ +----------------------------------------------+
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236
+ | 5 | left_gripper | (1,) |
237
+ | 6 | right_gripper | (1,) |
238
+ | 7 | box_pose | (7,) |
239
+ | 8 | smallbox_0_pose | (7,) |
240
+ | 9 | smallbox_1_pose | (7,) |
241
+ | 10 | smallbox_2_pose | (7,) |
242
+ | 11 | smallbox_3_pose | (7,) |
243
+ +----------+------------------------+----------+
244
+ +---------------------------------------------------+
245
+ | Active Observation Terms in Group: 'subtask_terms' |
246
+ +----------+-----------------------------+----------+
247
+ | Index | Name | Shape |
248
+ +----------+-----------------------------+----------+
249
+ | 0 | grasp_smallbox_0 | () |
250
+ | 1 | smallbox_0_placed | () |
251
+ | 2 | grasp_smallbox_1 | () |
252
+ | 3 | smallbox_1_placed | () |
253
+ | 4 | grasp_smallbox_2 | () |
254
+ | 5 | smallbox_2_placed | () |
255
+ | 6 | grasp_smallbox_3 | () |
256
+ | 7 | smallbox_3_placed | () |
257
+ +----------+-----------------------------+----------+
258
+
259
+ [INFO] Termination Manager: <TerminationManager> contains 1 active terms.
260
+ +-----------------------------+
261
+ | Active Termination Terms |
262
+ +-------+----------+----------+
263
+ | Index | Name | Time Out |
264
+ +-------+----------+----------+
265
+ | 0 | time_out | True |
266
+ +-------+----------+----------+
267
+
268
+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
269
+ +-----------------------+
270
+ | Active Reward Terms |
271
+ +-------+------+--------+
272
+ | Index | Name | Weight |
273
+ +-------+------+--------+
274
+ +-------+------+--------+
275
+
276
+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
277
+ +----------------------+
278
+ | Active Curriculum Terms |
279
+ +-----------+----------+
280
+ | Index | Name |
281
+ +-----------+----------+
282
+ +-----------+----------+
283
+
284
+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:16 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:16 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:17 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:17 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:17 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:17 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:17 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:17 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:17 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:17 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:01 [gen] step 40: lag=34/41mm(med/max) ORI=1deg j2=17deg(sat0.09) smallbox_0_tilt=1deg eef->smallbox_0=376mm [----] smallbox_0->pocket=212mm
296
+ >> 08-11 18:53:33 [gen] step 80: lag=20/116mm(med/max) ORI=1deg j4=51deg(sat0.21) smallbox_0_tilt=1deg eef->smallbox_0=169mm [----] smallbox_0->pocket=212mm
297
+ >> 08-11 18:54:06 [gen] step 120: lag=5/55mm(med/max) ORI=0deg j4=75deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=89mm [----] smallbox_0->pocket=212mm
298
+ >> 08-11 18:54:41 [gen] step 160: lag=7/38mm(med/max) ORI=1deg j4=62deg(sat0.15) smallbox_3_tilt=1deg eef->smallbox_3=11mm [----] smallbox_3->pocket=263mm
299
+ >> 08-11 18:55:16 [gen] step 200: lag=3/121mm(med/max) ORI=7deg j4=67deg(sat0.12) smallbox_3_tilt=1deg eef->smallbox_3=28mm [grip] smallbox_3->pocket=263mm
300
+ >> 08-11 18:55:51 [gen] step 240: lag=3/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=65mm [----] smallbox_3->pocket=317mm
301
+ >> 08-11 18:56:26 [gen] step 280: lag=3/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=65mm [----] smallbox_3->pocket=317mm
302
+ >> 08-11 18:57:06 [gen] step 320: lag=12/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
303
+ >> 08-11 18:57:44 [gen] step 360: lag=12/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
304
+ >> 08-11 18:58:19 [gen] step 400: lag=2/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
305
+ >> 08-11 18:58:59 [gen] step 440: lag=4/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
306
+ >> 08-11 18:59:40 [gen] step 480: lag=5/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
307
+ >> 08-11 19:00:19 [gen] step 520: lag=1/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
308
+ >> 08-11 19:00:56 [gen] step 560: lag=4/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
309
+ >> 08-11 19:01:31 [gen] step 600: lag=5/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
310
+ >> 08-11 19:02:07 [gen] step 640: lag=0/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
311
+ >> 08-11 19:02:19 [wpgen/press] push_seat_3: peak press force N all med=1.00 max=33.78 CONTACT n=296/512 med=5.58 p90=18.86 max=33.78 (gate 1.50 <= f <= 20.00)
312
+ >> 08-11 19:02:46 [gen] step 680: lag=1/84mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=317mm
313
+ >> 08-11 19:04:36 [wpgen/progress] batch 1 (cube b3): 114/512 kept running 114/400 (512 rollouts)
314
+ >> 08-11 19:05:14 [gen] step 720: lag=34/41mm(med/max) ORI=1deg j2=17deg(sat0.10) smallbox_0_tilt=1deg eef->smallbox_0=405mm [----] smallbox_0->pocket=220mm
315
+ >> 08-11 19:05:47 [gen] step 760: lag=19/109mm(med/max) ORI=1deg j3=-43deg(sat0.25) smallbox_0_tilt=1deg eef->smallbox_0=270mm [----] smallbox_0->pocket=220mm
316
+ >> 08-11 19:06:20 [gen] step 800: lag=1/62mm(med/max) ORI=0deg j4=55deg(sat0.19) smallbox_0_tilt=1deg eef->smallbox_0=38mm [----] smallbox_0->pocket=220mm
317
+ >> 08-11 19:06:57 [gen] step 840: lag=7/44mm(med/max) ORI=0deg j4=52deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=220mm
318
+ >> 08-11 19:07:32 [gen] step 880: lag=3/81mm(med/max) ORI=0deg j4=52deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=221mm
319
+ >> 08-11 19:08:08 [gen] step 920: lag=2/80mm(med/max) ORI=0deg j4=52deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=221mm
320
+ >> 08-11 19:08:44 [gen] step 960: lag=5/83mm(med/max) ORI=1deg j4=50deg(sat0.21) smallbox_0_tilt=1deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=224mm
321
+ >> 08-11 19:09:28 [gen] step 1000: lag=12/81mm(med/max) ORI=0deg j4=54deg(sat0.20) smallbox_0_tilt=16deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=271mm
322
+ >> 08-11 19:10:02 [gen] step 1040: lag=11/81mm(med/max) ORI=1deg j4=60deg(sat0.16) smallbox_0_tilt=13deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=179mm
323
+ >> 08-11 19:10:38 [gen] step 1080: lag=2/81mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_0_tilt=8deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=175mm
324
+ >> 08-11 19:11:15 [gen] step 1120: lag=5/73mm(med/max) ORI=0deg j4=64deg(sat0.13) smallbox_0_tilt=9deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=66mm
325
+ >> 08-11 19:11:50 [gen] step 1160: lag=1/72mm(med/max) ORI=0deg j4=59deg(sat0.17) smallbox_0_tilt=7deg eef->smallbox_0=21mm [grip] smallbox_0->pocket=54mm
326
+ >> 08-11 19:12:32 [gen] step 1200: lag=10/41mm(med/max) ORI=0deg j4=77deg(sat0.06) smallbox_0_tilt=1deg eef->smallbox_0=97mm [----] smallbox_0->pocket=50mm
327
+ >> 08-11 19:13:08 [gen] step 1240: lag=0/40mm(med/max) ORI=0deg j4=67deg(sat0.12) smallbox_0_tilt=1deg eef->smallbox_0=76mm [----] smallbox_0->pocket=50mm
328
+ >> 08-11 19:13:46 [gen] step 1280: lag=1/28mm(med/max) ORI=0deg j4=54deg(sat0.19) smallbox_0_tilt=1deg eef->smallbox_0=28mm [grip] smallbox_0->pocket=50mm
329
+ >> 08-11 19:14:27 [gen] step 1320: lag=4/28mm(med/max) ORI=0deg j4=69deg(sat0.11) smallbox_0_tilt=1deg eef->smallbox_0=76mm [----] smallbox_0->pocket=50mm
330
+ >> 08-11 19:14:58 [wpgen/press] push_seat_0: peak press force N all med=1.52 max=88.50 CONTACT n=312/512 med=4.42 p90=13.69 max=88.50 (gate 1.50 <= f <= 20.00)
331
+ >> 08-11 19:15:03 [gen] step 1360: lag=0/35mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_0_tilt=1deg eef->smallbox_0=138mm [----] smallbox_0->pocket=50mm
332
+ >> 08-11 19:17:59 [wpgen/progress] batch 2 (cube b0): 192/512 kept running 306/400 (1024 rollouts)
333
+ >> 08-11 19:18:11 [gen] step 1400: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_2_tilt=1deg eef->smallbox_2=377mm [----] smallbox_2->pocket=160mm
334
+ >> 08-11 19:18:51 [gen] step 1440: lag=86/119mm(med/max) ORI=1deg j2=27deg(sat0.15) smallbox_2_tilt=1deg eef->smallbox_2=292mm [----] smallbox_2->pocket=160mm
335
+ >> 08-11 19:19:25 [gen] step 1480: lag=22/97mm(med/max) ORI=1deg j4=70deg(sat0.10) smallbox_2_tilt=1deg eef->smallbox_2=119mm [----] smallbox_2->pocket=160mm
336
+ >> 08-11 19:20:00 [gen] step 1520: lag=4/25mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=1deg eef->smallbox_2=100mm [----] smallbox_2->pocket=160mm
337
+ >> 08-11 19:20:35 [gen] step 1560: lag=4/114mm(med/max) ORI=1deg j4=64deg(sat0.14) smallbox_2_tilt=13deg eef->smallbox_2=37mm [grip] smallbox_2->pocket=159mm
338
+ >> 08-11 19:21:10 [gen] step 1600: lag=3/80mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=44deg eef->smallbox_2=45mm [grip] smallbox_2->pocket=152mm
339
+ >> 08-11 19:21:44 [gen] step 1640: lag=3/72mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=150mm
340
+ >> 08-11 19:22:26 [gen] step 1680: lag=10/70mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
341
+ >> 08-11 19:23:01 [gen] step 1720: lag=14/70mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
342
+ >> 08-11 19:23:35 [gen] step 1760: lag=5/71mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
343
+ >> 08-11 19:24:12 [gen] step 1800: lag=5/71mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
344
+ >> 08-11 19:24:46 [gen] step 1840: lag=3/71mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
345
+ >> 08-11 19:25:29 [gen] step 1880: lag=10/71mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
346
+ >> 08-11 19:26:04 [gen] step 1920: lag=1/71mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
347
+ >> 08-11 19:26:40 [gen] step 1960: lag=7/71mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
348
+ >> 08-11 19:27:18 [gen] step 2000: lag=2/72mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
349
+ >> 08-11 19:27:53 [gen] step 2040: lag=0/72mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
350
+ >> 08-11 19:28:10 [wpgen/press] push_seat_2: peak press force N all med=1.30 max=39.47 CONTACT n=310/512 med=4.61 p90=19.11 max=39.47 (gate 1.50 <= f <= 20.00)
351
+ >> 08-11 19:28:28 [gen] step 2080: lag=2/72mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_2_tilt=1deg eef->smallbox_2=50mm [----] smallbox_2->pocket=149mm
352
+ >> 08-11 19:31:36 [wpgen/progress] batch 3 (cube b2): 118/512 kept running 424/400 (1536 rollouts)
353
+ >> 08-11 19:31:36 [wpgen/done] DONE (batched chunks): 424/400 kept in 1536 rollouts (3 batches of 512). success 424 | fail@[grasp_smallbox_3 22, push_seat_3 183, place_smallbox_3 182, motion:right_arm:j5_pos 32, place_smallbox_0 134, push_seat_0 137, grasp_smallbox_0 40, motion:right_arm:j1_acc 2, motion:right_arm:j5_acc 1, grasp_smallbox_2 46, push_seat_2 177, place_smallbox_2 156] (fail rate 1112/1536 = 72%)
354
+ >> 08-11 19:31:36 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
355
+ >> 08-11 19:31:36 [wpgen/done] b0->s0: 41 [ 128, 32%] b0->s1: 46 [ 128, 36%] b0->s2: 56 [ 128, 44%] b0->s3: 49 [ 128, 38%] | b0 total 192
356
+ >> 08-11 19:31:36 [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
357
+ >> 08-11 19:31:36 [wpgen/done] b2->s0: 22 [ 128, 17%] b2->s1: 23 [ 128, 18%] b2->s2: 30 [ 128, 23%] b2->s3: 43 [ 128, 34%] | b2 total 118
358
+ >> 08-11 19:31:36 [wpgen/done] b3->s0: 28 [ 128, 22%] b3->s1: 22 [ 128, 17%] b3->s2: 31 [ 128, 24%] b3->s3: 33 [ 128, 26%] | b3 total 114
359
+ >> 08-11 19:31:36 [wpgen/done] per-slot totals: s0= 91 s1= 91 s2= 117 s3= 125
360
+ >> 08-11 19:31:36 [wpgen/done] balance: min 0, max 56 per pair (infx spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
361
+ | | | | 2901 | 486360fa.. |
362
+ | | | | | | 8d | |
363
+ |---------------------------------------------------------------------------------------------|
364
+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
365
+ | | | | | | 2901 | 88cabb84.. |
366
+ | | | | | | 95 | |
367
+ |=============================================================================================|
368
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
369
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
370
+ | Cores: 104 | Logical Cores: 208
371
+ |---------------------------------------------------------------------------------------------|
372
+ | Total Memory (MB): 2922999 | Free Memory: 2690681
373
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
374
+ |---------------------------------------------------------------------------------------------|
375
+ 2026-08-11T18:52:07Z [19,057ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 1
376
+ 2026-08-11T18:52:07Z [19,446ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
377
+ 2026-08-11T18:52:07Z [19,446ms] [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)
378
+ 2026-08-11T18:52:07Z [19,470ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
379
+ 2026-08-11T18:52:07Z [19,470ms] [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)
380
+ 2026-08-11T18:52:07Z [19,481ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
381
+ 2026-08-11T18:52:07Z [19,481ms] [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)
382
+ 2026-08-11T18:52:07Z [19,489ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
383
+ 2026-08-11T18:52:07Z [19,489ms] [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)
384
+ 2026-08-11T18:52:07Z [19,491ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
385
+ 2026-08-11T18:52:07Z [19,491ms] [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)
386
+ 2026-08-11T18:52:07Z [19,493ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
387
+ 2026-08-11T18:52:07Z [19,493ms] [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)
388
+ 2026-08-11T18:52:08Z [19,983ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
389
+ 2026-08-11T18:52:08Z [20,213ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
small_boxes/0720_3/gen/gpu1_failed.hdf5 ADDED
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+ size 685965056
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+ size 272870200
small_boxes/0720_3/gen/gpu2.log ADDED
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+ 
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+ 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'
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+ [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_185148.log
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+ 2026-08-11T18:51:48Z [81ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
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+ 2026-08-11T18:51:48Z [315ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
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+ 2026-08-11T18:51:48Z [458ms] [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.
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+ 2026-08-11T18:51:48Z [468ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-08-11T18:51:58Z [9,933ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
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+ 2026-08-11T18:51:58Z [9,933ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
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+ 2026-08-11T18:51:58Z [9,933ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
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+ 2026-08-11T18:52:03Z [14,514ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,514ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,546ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,546ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,548ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,548ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,552ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,552ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,553ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,553ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,574ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,574ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,575ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,575ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,576ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ | | | | | | 2901 | f78282a5.. |
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+ | | | | | | 71 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 486360fa.. |
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
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+ [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.
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+ [INFO][AppLauncher]: Using device: cuda
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+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
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+ >> 08-11 18:52:04 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
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+ >> 08-11 18:52:04 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
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+ >> 08-11 18:52:04 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
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+ >> 08-11 18:52:04 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
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+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 88cabb84.. |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
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+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
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+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
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+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
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+ | Total Memory (MB): 2922999 | Free Memory: 2692808
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+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-08-11T18:52:04Z [16,158ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 2
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+ 2026-08-11T18:52:04Z [16,211ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
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+ 2026-08-11T18:52:17Z [28,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:17Z [28,520ms] [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)
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+ 2026-08-11T18:52:17Z [28,676ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,676ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,677ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,677ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,681ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,681ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,682ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,682ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,684ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,684ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,685ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,685ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:17Z [28,686ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |=============================================================================================|
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+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ | | | | | | Device-ID | UUID |
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+ | | | | | | Bus-ID | |
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+ | 0 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 95a5621d.. |
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+ | | | | | | 63 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 1 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | df2e56cb.. |
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+ | 2 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | f78282a5.. |
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+ | | | | | | 71 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-19.log
164
+ ======================================================================================
165
+
166
+ 18:52:19 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
169
+ Environment seed : None
170
+ Physics step-size : 0.0020833333333333333
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+ Rendering step-size : 0.016666666666666666
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+ Environment step-size : 0.016666666666666666
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+ [INFO]: Time taken for scene creation : 4.940741 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
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+ Environment spacing : 3.0
177
+ Source prim name : /World/envs/env_0
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+ Global prim paths : []
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+ Replicate physics : True
180
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 1.743498 seconds
182
+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
183
+ +------------------------+
184
+ | Active Command Terms |
185
+ +--------+-------+-------+
186
+ | Index | Name | Type |
187
+ +--------+-------+-------+
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+ [INFO] Event Manager: <EventManager> contains 1 active terms.
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+ +-------------------------------------+
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+ | 0 | randomize_layout |
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+ | 1 | seat_brush |
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+ | 2 | seat_bottles |
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+ +----------+--------------------------+
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+
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+ [INFO] Recorder Manager: <RecorderManager> contains 6 active terms.
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+ +--------------------------------------------------+
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+ | 2 | record_pre_step_actions |
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+ | 3 | record_pre_step_flat_policy_observations |
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+ | 4 | record_post_step_processed_actions |
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+ | 5 | record_post_step_joint_commands |
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+ +-------+------------------------------------------+
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+
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+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
216
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+ +-------+---------------+-----------+
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+ | 0 | right_arm | 7 |
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+ | 1 | right_gripper | 1 |
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+ +-------+---------------+-----------+
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+
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+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
226
+ +----------------------------------------------+
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+ | Active Observation Terms in Group: 'policy' |
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+ +----------+------------------------+----------+
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+ | Index | Name | Shape |
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+ +----------+------------------------+----------+
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+ | 0 | actions | (8,) |
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+ | 1 | left_eef_pos | (3,) |
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+ | 2 | left_eef_quat | (4,) |
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+ | 3 | right_eef_pos | (3,) |
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+ | 4 | right_eef_quat | (4,) |
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+ | 5 | left_gripper | (1,) |
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+ | 6 | right_gripper | (1,) |
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+ | 7 | box_pose | (7,) |
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+ | 8 | smallbox_0_pose | (7,) |
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+ | 9 | smallbox_1_pose | (7,) |
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+ | 10 | smallbox_2_pose | (7,) |
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+ | 11 | smallbox_3_pose | (7,) |
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+ +----------+------------------------+----------+
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+ +---------------------------------------------------+
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+ | Active Observation Terms in Group: 'subtask_terms' |
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+ | Index | Name | Shape |
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+ | 0 | grasp_smallbox_0 | () |
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+ | 1 | smallbox_0_placed | () |
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+ | 2 | grasp_smallbox_1 | () |
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+ | 3 | smallbox_1_placed | () |
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+ | 4 | grasp_smallbox_2 | () |
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+ | 5 | smallbox_2_placed | () |
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+ | 6 | grasp_smallbox_3 | () |
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+ | 7 | smallbox_3_placed | () |
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+ +----------+-----------------------------+----------+
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+
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+ [INFO] Termination Manager: <TerminationManager> contains 1 active terms.
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+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
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+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
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+ +----------------------+
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+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:26 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:26 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:27 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:27 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:27 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:27 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:27 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:27 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:27 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:27 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:11 [gen] step 40: lag=34/41mm(med/max) ORI=0deg j2=17deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=396mm [----] smallbox_1->pocket=171mm
296
+ >> 08-11 18:53:44 [gen] step 80: lag=19/107mm(med/max) ORI=1deg j3=-31deg(sat0.18) smallbox_1_tilt=1deg eef->smallbox_1=184mm [----] smallbox_1->pocket=171mm
297
+ >> 08-11 18:54:17 [gen] step 120: lag=2/62mm(med/max) ORI=0deg j4=49deg(sat0.22) smallbox_1_tilt=1deg eef->smallbox_1=37mm [----] smallbox_1->pocket=171mm
298
+ >> 08-11 18:54:52 [gen] step 160: lag=7/37mm(med/max) ORI=1deg j3=-41deg(sat0.24) smallbox_1_tilt=1deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=173mm
299
+ >> 08-11 18:55:26 [gen] step 200: lag=3/81mm(med/max) ORI=1deg j3=-41deg(sat0.24) smallbox_1_tilt=1deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=174mm
300
+ >> 08-11 18:56:01 [gen] step 240: lag=3/42mm(med/max) ORI=1deg j3=-41deg(sat0.24) smallbox_1_tilt=1deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=174mm
301
+ >> 08-11 18:56:36 [gen] step 280: lag=5/55mm(med/max) ORI=1deg j3=-41deg(sat0.24) smallbox_1_tilt=1deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=169mm
302
+ >> 08-11 18:57:16 [gen] step 320: lag=13/30mm(med/max) ORI=0deg j4=57deg(sat0.18) smallbox_1_tilt=16deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=233mm
303
+ >> 08-11 18:57:50 [gen] step 360: lag=12/55mm(med/max) ORI=1deg j4=77deg(sat0.06) smallbox_1_tilt=7deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=157mm
304
+ >> 08-11 18:58:24 [gen] step 400: lag=2/49mm(med/max) ORI=0deg j4=82deg(sat0.04) smallbox_1_tilt=8deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=162mm
305
+ >> 08-11 18:59:01 [gen] step 440: lag=6/46mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_1_tilt=10deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=76mm
306
+ >> 08-11 18:59:35 [gen] step 480: lag=1/46mm(med/max) ORI=0deg j4=66deg(sat0.13) smallbox_1_tilt=8deg eef->smallbox_1=22mm [grip] smallbox_1->pocket=56mm
307
+ >> 08-11 19:00:17 [gen] step 520: lag=10/35mm(med/max) ORI=0deg j4=77deg(sat0.06) smallbox_1_tilt=1deg eef->smallbox_1=71mm [----] smallbox_1->pocket=51mm
308
+ >> 08-11 19:00:51 [gen] step 560: lag=0/27mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_1_tilt=1deg eef->smallbox_1=76mm [----] smallbox_1->pocket=51mm
309
+ >> 08-11 19:01:26 [gen] step 600: lag=1/60mm(med/max) ORI=0deg j4=60deg(sat0.16) smallbox_1_tilt=1deg eef->smallbox_1=27mm [grip] smallbox_1->pocket=51mm
310
+ >> 08-11 19:02:00 [gen] step 640: lag=4/25mm(med/max) ORI=0deg j4=70deg(sat0.10) smallbox_0_tilt=1deg eef->smallbox_0=50mm [----] smallbox_0->pocket=48mm
311
+ >> 08-11 19:02:35 [wpgen/press] push_seat_1: peak press force N all med=0.74 max=41.06 CONTACT n=285/512 med=4.38 p90=12.22 max=41.06 (gate 1.50 <= f <= 20.00)
312
+ >> 08-11 19:02:37 [gen] step 680: lag=0/38mm(med/max) ORI=0deg j4=81deg(sat0.04) smallbox_0_tilt=1deg eef->smallbox_0=130mm [----] smallbox_0->pocket=48mm
313
+ >> 08-11 19:04:56 [wpgen/progress] batch 1 (cube b1): 161/512 kept running 161/400 (512 rollouts)
314
+ >> 08-11 19:05:05 [gen] step 720: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=371mm [----] smallbox_0->pocket=247mm
315
+ >> 08-11 19:05:43 [gen] step 760: lag=75/99mm(med/max) ORI=1deg j2=16deg(sat0.09) smallbox_0_tilt=1deg eef->smallbox_0=387mm [----] smallbox_0->pocket=247mm
316
+ >> 08-11 19:06:15 [gen] step 800: lag=21/99mm(med/max) ORI=1deg j4=76deg(sat0.07) smallbox_0_tilt=1deg eef->smallbox_0=204mm [----] smallbox_0->pocket=247mm
317
+ >> 08-11 19:06:48 [gen] step 840: lag=0/29mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_0_tilt=1deg eef->smallbox_0=116mm [----] smallbox_0->pocket=247mm
318
+ >> 08-11 19:07:24 [gen] step 880: lag=5/82mm(med/max) ORI=0deg j4=53deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=11mm [grip] smallbox_0->pocket=246mm
319
+ >> 08-11 19:07:58 [gen] step 920: lag=3/88mm(med/max) ORI=0deg j4=53deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=11mm [grip] smallbox_0->pocket=247mm
320
+ >> 08-11 19:08:32 [gen] step 960: lag=3/89mm(med/max) ORI=0deg j4=53deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=11mm [grip] smallbox_0->pocket=247mm
321
+ >> 08-11 19:09:13 [gen] step 1000: lag=3/108mm(med/max) ORI=0deg j4=53deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=11mm [grip] smallbox_0->pocket=252mm
322
+ >> 08-11 19:09:46 [gen] step 1040: lag=13/110mm(med/max) ORI=0deg j4=81deg(sat0.04) smallbox_0_tilt=1deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=207mm
323
+ >> 08-11 19:10:20 [gen] step 1080: lag=7/111mm(med/max) ORI=1deg j4=84deg(sat0.02) smallbox_0_tilt=7deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=103mm
324
+ >> 08-11 19:10:55 [gen] step 1120: lag=6/111mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_0_tilt=7deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=87mm
325
+ >> 08-11 19:11:33 [gen] step 1160: lag=3/106mm(med/max) ORI=1deg j4=85deg(sat0.02) smallbox_0_tilt=38deg eef->smallbox_0=8mm [----] smallbox_0->pocket=49mm
326
+ >> 08-11 19:12:13 [gen] step 1200: lag=10/104mm(med/max) ORI=4deg j4=88deg(sat0.00) smallbox_3_tilt=1deg eef->smallbox_3=104mm [----] smallbox_3->pocket=42mm
327
+ >> 08-11 19:12:47 [gen] step 1240: lag=0/102mm(med/max) ORI=2deg j4=88deg(sat0.00) smallbox_0_tilt=1deg eef->smallbox_0=74mm [----] smallbox_0->pocket=46mm
328
+ >> 08-11 19:13:26 [gen] step 1280: lag=5/102mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_0_tilt=1deg eef->smallbox_0=13mm [grip] smallbox_0->pocket=46mm
329
+ >> 08-11 19:14:01 [gen] step 1320: lag=7/101mm(med/max) ORI=0deg j4=78deg(sat0.05) smallbox_0_tilt=1deg eef->smallbox_0=4mm [grip] smallbox_0->pocket=46mm
330
+ >> 08-11 19:14:34 [gen] step 1360: lag=0/101mm(med/max) ORI=3deg j4=69deg(sat0.11) smallbox_0_tilt=1deg eef->smallbox_0=12mm [grip] smallbox_0->pocket=45mm
331
+ >> 08-11 19:14:40 [wpgen/press] push_seat_0: peak press force N all med=1.37 max=63.64 CONTACT n=317/512 med=5.54 p90=22.00 max=63.64 (gate 1.50 <= f <= 20.00)
332
+ >> 08-11 19:17:28 [wpgen/progress] batch 2 (cube b0): 139/512 kept running 300/400 (1024 rollouts)
333
+ >> 08-11 19:17:29 [gen] step 1400: lag=7/7mm(med/max) ORI=2deg j2=2deg(sat0.01) smallbox_1_tilt=0deg eef->smallbox_1=284mm [----] smallbox_1->pocket=274mm
334
+ >> 08-11 19:18:09 [gen] step 1440: lag=43/52mm(med/max) ORI=1deg j2=17deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=380mm [----] smallbox_1->pocket=274mm
335
+ >> 08-11 19:18:41 [gen] step 1480: lag=19/118mm(med/max) ORI=1deg j3=-35deg(sat0.20) smallbox_2_tilt=1deg eef->smallbox_2=155mm [----] smallbox_2->pocket=173mm
336
+ >> 08-11 19:19:14 [gen] step 1520: lag=1/54mm(med/max) ORI=0deg j4=50deg(sat0.22) smallbox_2_tilt=1deg eef->smallbox_2=37mm [----] smallbox_2->pocket=173mm
337
+ >> 08-11 19:19:49 [gen] step 1560: lag=8/47mm(med/max) ORI=0deg j4=44deg(sat0.25) smallbox_2_tilt=1deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=170mm
338
+ >> 08-11 19:20:24 [gen] step 1600: lag=3/52mm(med/max) ORI=0deg j4=43deg(sat0.25) smallbox_2_tilt=1deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=171mm
339
+ >> 08-11 19:20:57 [gen] step 1640: lag=3/35mm(med/max) ORI=0deg j4=43deg(sat0.25) smallbox_2_tilt=1deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=171mm
340
+ >> 08-11 19:21:32 [gen] step 1680: lag=4/35mm(med/max) ORI=1deg j4=38deg(sat0.28) smallbox_2_tilt=4deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=161mm
341
+ >> 08-11 19:22:14 [gen] step 1720: lag=13/35mm(med/max) ORI=0deg j4=55deg(sat0.19) smallbox_2_tilt=16deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=227mm
342
+ >> 08-11 19:22:46 [gen] step 1760: lag=11/70mm(med/max) ORI=1deg j4=66deg(sat0.13) smallbox_2_tilt=8deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=162mm
343
+ >> 08-11 19:23:21 [gen] step 1800: lag=2/76mm(med/max) ORI=0deg j4=85deg(sat0.02) smallbox_2_tilt=8deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=164mm
344
+ >> 08-11 19:23:56 [gen] step 1840: lag=7/35mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_2_tilt=9deg eef->smallbox_2=22mm [grip] smallbox_2->pocket=61mm
345
+ >> 08-11 19:24:31 [gen] step 1880: lag=1/37mm(med/max) ORI=0deg j4=71deg(sat0.10) smallbox_2_tilt=3deg eef->smallbox_2=23mm [grip] smallbox_2->pocket=46mm
346
+ >> 08-11 19:25:09 [gen] step 1920: lag=10/45mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_2_tilt=1deg eef->smallbox_2=55mm [----] smallbox_2->pocket=43mm
347
+ >> 08-11 19:25:43 [gen] step 1960: lag=0/36mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_2_tilt=1deg eef->smallbox_2=77mm [----] smallbox_2->pocket=43mm
348
+ >> 08-11 19:26:22 [gen] step 2000: lag=1/34mm(med/max) ORI=0deg j4=64deg(sat0.13) smallbox_2_tilt=1deg eef->smallbox_2=28mm [grip] smallbox_2->pocket=43mm
349
+ >> 08-11 19:26:56 [gen] step 2040: lag=2/28mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_2_tilt=1deg eef->smallbox_2=87mm [----] smallbox_2->pocket=43mm
350
+ >> 08-11 19:27:22 [wpgen/press] push_seat_2: peak press force N all med=0.74 max=29.28 CONTACT n=286/512 med=4.35 p90=11.43 max=29.28 (gate 1.50 <= f <= 20.00)
351
+ >> 08-11 19:27:29 [gen] step 2080: lag=0/33mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_2_tilt=1deg eef->smallbox_2=140mm [----] smallbox_2->pocket=43mm
352
+ >> 08-11 19:30:28 [wpgen/progress] batch 3 (cube b2): 166/512 kept running 466/400 (1536 rollouts)
353
+ >> 08-11 19:30:28 [wpgen/done] DONE (batched chunks): 466/400 kept in 1536 rollouts (3 batches of 512). success 466 | fail@[place_smallbox_1 164, push_seat_1 171, motion:right_arm:j5_pos 26, grasp_smallbox_1 6, motion:right_arm:j4_acc 1, motion:right_arm:j1_acc 3, place_smallbox_0 166, grasp_smallbox_0 31, push_seat_0 172, push_seat_2 147, place_smallbox_2 147, grasp_smallbox_2 35, motion:right_arm:j5_acc 1] (fail rate 1070/1536 = 70%)
354
+ >> 08-11 19:30:28 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
355
+ >> 08-11 19:30:28 [wpgen/done] b0->s0: 33 [ 128, 26%] b0->s1: 32 [ 128, 25%] b0->s2: 40 [ 128, 31%] b0->s3: 34 [ 128, 27%] | b0 total 139
356
+ >> 08-11 19:30:28 [wpgen/done] b1->s0: 42 [ 128, 33%] b1->s1: 35 [ 128, 27%] b1->s2: 41 [ 128, 32%] b1->s3: 43 [ 128, 34%] | b1 total 161
357
+ >> 08-11 19:30:28 [wpgen/done] b2->s0: 42 [ 128, 33%] b2->s1: 43 [ 128, 34%] b2->s2: 41 [ 128, 32%] b2->s3: 40 [ 128, 31%] | b2 total 166
358
+ >> 08-11 19:30:28 [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
359
+ >> 08-11 19:30:28 [wpgen/done] per-slot totals: s0= 117 s1= 110 s2= 122 s3= 117
360
+ >> 08-11 19:30:28 [wpgen/done] balance: min 0, max 43 per pair (infx spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
361
+ | | | | 2901 | 486360fa.. |
362
+ | | | | | | 8d | |
363
+ |---------------------------------------------------------------------------------------------|
364
+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
365
+ | | | | | | 2901 | 88cabb84.. |
366
+ | | | | | | 95 | |
367
+ |=============================================================================================|
368
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
369
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
370
+ | Cores: 104 | Logical Cores: 208
371
+ |---------------------------------------------------------------------------------------------|
372
+ | Total Memory (MB): 2922999 | Free Memory: 2677029
373
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
374
+ |---------------------------------------------------------------------------------------------|
375
+ 2026-08-11T18:52:18Z [29,643ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 2
376
+ 2026-08-11T18:52:18Z [30,039ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
377
+ 2026-08-11T18:52:18Z [30,039ms] [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)
378
+ 2026-08-11T18:52:18Z [30,062ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
379
+ 2026-08-11T18:52:18Z [30,062ms] [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)
380
+ 2026-08-11T18:52:18Z [30,072ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
381
+ 2026-08-11T18:52:18Z [30,072ms] [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)
382
+ 2026-08-11T18:52:18Z [30,082ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
383
+ 2026-08-11T18:52:18Z [30,082ms] [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)
384
+ 2026-08-11T18:52:18Z [30,084ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
385
+ 2026-08-11T18:52:18Z [30,084ms] [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)
386
+ 2026-08-11T18:52:18Z [30,085ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
387
+ 2026-08-11T18:52:18Z [30,085ms] [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)
388
+ 2026-08-11T18:52:19Z [30,635ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
389
+ 2026-08-11T18:52:19Z [30,880ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
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+ 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'
3
+ [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_185148.log
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+ 2026-08-11T18:51:48Z [85ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
5
+ 2026-08-11T18:51:48Z [353ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
6
+ 2026-08-11T18:51:48Z [474ms] [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.
7
+ 2026-08-11T18:51:48Z [484ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
8
+ 2026-08-11T18:51:58Z [9,893ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
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+ 2026-08-11T18:51:58Z [9,894ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
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+ 2026-08-11T18:51:58Z [9,894ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
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+ 2026-08-11T18:52:02Z [14,330ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,330ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,331ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,331ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,347ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,347ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,359ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,359ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,378ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,378ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,389ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,389ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |=============================================================================================|
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+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ |---------------------------------------------------------------------------------------------|
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+ |---------------------------------------------------------------------------------------------|
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+ |---------------------------------------------------------------------------------------------|
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ |---------------------------------------------------------------------------------------------|
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+ |---------------------------------------------------------------------------------------------|
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 486360fa.. |
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
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+ [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.
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+ [INFO][AppLauncher]: Using device: cuda
76
+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
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+ >> 08-11 18:52:04 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
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+ >> 08-11 18:52:04 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
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+ >> 08-11 18:52:04 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
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+ >> 08-11 18:52:04 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
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+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
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+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
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+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
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+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
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+ | Total Memory (MB): 2922999 | Free Memory: 2693073
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+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-08-11T18:52:04Z [16,095ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 3
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+ 2026-08-11T18:52:04Z [16,165ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
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+ 2026-08-11T18:52:10Z [22,200ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:10Z [22,200ms] [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)
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+ 2026-08-11T18:52:10Z [22,335ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,335ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,336ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,336ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,337ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,337ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,339ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,339ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,340ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,340ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,341ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,341ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:10Z [22,343ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |=============================================================================================|
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+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ | | | | | | Device-ID | UUID |
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+ | | | | | | Bus-ID | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 0 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 95a5621d.. |
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+ | | | | | | 63 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 1 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | df2e56cb.. |
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+ | | | | | | 6b | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 2 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | f78282a5.. |
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+ | | | | | | 71 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-12.log
164
+ ======================================================================================
165
+
166
+ 18:52:12 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
169
+ Environment seed : None
170
+ Physics step-size : 0.0020833333333333333
171
+ Rendering step-size : 0.016666666666666666
172
+ Environment step-size : 0.016666666666666666
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+ [INFO]: Time taken for scene creation : 4.824489 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
176
+ Environment spacing : 3.0
177
+ Source prim name : /World/envs/env_0
178
+ Global prim paths : []
179
+ Replicate physics : True
180
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 2.216709 seconds
182
+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
183
+ +------------------------+
184
+ | Active Command Terms |
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+ +--------+-------+-------+
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+ | Index | Name | Type |
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+ +--------+-------+-------+
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+ +--------+-------+-------+
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+
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+ [INFO] Event Manager: <EventManager> contains 1 active terms.
191
+ +-------------------------------------+
192
+ | Active Event Terms in Mode: 'reset' |
193
+ +----------+--------------------------+
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+ | Index | Name |
195
+ +----------+--------------------------+
196
+ | 0 | randomize_layout |
197
+ | 1 | seat_brush |
198
+ | 2 | seat_bottles |
199
+ +----------+--------------------------+
200
+
201
+ [INFO] Recorder Manager: <RecorderManager> contains 6 active terms.
202
+ +--------------------------------------------------+
203
+ | Active Recorder Terms |
204
+ +-------+------------------------------------------+
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+ | Index | Name |
206
+ +-------+------------------------------------------+
207
+ | 0 | record_initial_state |
208
+ | 1 | record_post_step_states |
209
+ | 2 | record_pre_step_actions |
210
+ | 3 | record_pre_step_flat_policy_observations |
211
+ | 4 | record_post_step_processed_actions |
212
+ | 5 | record_post_step_joint_commands |
213
+ +-------+------------------------------------------+
214
+
215
+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
216
+ +-----------------------------------+
217
+ | Active Action Terms (shape: 8) |
218
+ +-------+---------------+-----------+
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+ | Index | Name | Dimension |
220
+ +-------+---------------+-----------+
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+ | 0 | right_arm | 7 |
222
+ | 1 | right_gripper | 1 |
223
+ +-------+---------------+-----------+
224
+
225
+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
226
+ +----------------------------------------------+
227
+ | Active Observation Terms in Group: 'policy' |
228
+ +----------+------------------------+----------+
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+ | Index | Name | Shape |
230
+ +----------+------------------------+----------+
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+ | 0 | actions | (8,) |
232
+ | 1 | left_eef_pos | (3,) |
233
+ | 2 | left_eef_quat | (4,) |
234
+ | 3 | right_eef_pos | (3,) |
235
+ | 4 | right_eef_quat | (4,) |
236
+ | 5 | left_gripper | (1,) |
237
+ | 6 | right_gripper | (1,) |
238
+ | 7 | box_pose | (7,) |
239
+ | 8 | smallbox_0_pose | (7,) |
240
+ | 9 | smallbox_1_pose | (7,) |
241
+ | 10 | smallbox_2_pose | (7,) |
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+ | 11 | smallbox_3_pose | (7,) |
243
+ +----------+------------------------+----------+
244
+ +---------------------------------------------------+
245
+ | Active Observation Terms in Group: 'subtask_terms' |
246
+ +----------+-----------------------------+----------+
247
+ | Index | Name | Shape |
248
+ +----------+-----------------------------+----------+
249
+ | 0 | grasp_smallbox_0 | () |
250
+ | 1 | smallbox_0_placed | () |
251
+ | 2 | grasp_smallbox_1 | () |
252
+ | 3 | smallbox_1_placed | () |
253
+ | 4 | grasp_smallbox_2 | () |
254
+ | 5 | smallbox_2_placed | () |
255
+ | 6 | grasp_smallbox_3 | () |
256
+ | 7 | smallbox_3_placed | () |
257
+ +----------+-----------------------------+----------+
258
+
259
+ [INFO] Termination Manager: <TerminationManager> contains 1 active terms.
260
+ +-----------------------------+
261
+ | Active Termination Terms |
262
+ +-------+----------+----------+
263
+ | Index | Name | Time Out |
264
+ +-------+----------+----------+
265
+ | 0 | time_out | True |
266
+ +-------+----------+----------+
267
+
268
+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
269
+ +-----------------------+
270
+ | Active Reward Terms |
271
+ +-------+------+--------+
272
+ | Index | Name | Weight |
273
+ +-------+------+--------+
274
+ +-------+------+--------+
275
+
276
+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
277
+ +----------------------+
278
+ | Active Curriculum Terms |
279
+ +-----------+----------+
280
+ | Index | Name |
281
+ +-----------+----------+
282
+ +-----------+----------+
283
+
284
+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:20 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:20 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:21 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:21 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:21 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:21 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:21 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:21 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:21 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:21 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:08 [gen] step 40: lag=34/41mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_0_tilt=1deg eef->smallbox_0=383mm [----] smallbox_0->pocket=179mm
296
+ >> 08-11 18:53:42 [gen] step 80: lag=19/99mm(med/max) ORI=1deg j4=56deg(sat0.18) smallbox_0_tilt=1deg eef->smallbox_0=146mm [----] smallbox_0->pocket=179mm
297
+ >> 08-11 18:54:17 [gen] step 120: lag=2/51mm(med/max) ORI=0deg j4=58deg(sat0.17) smallbox_0_tilt=1deg eef->smallbox_0=25mm [----] smallbox_0->pocket=179mm
298
+ >> 08-11 18:54:54 [gen] step 160: lag=8/46mm(med/max) ORI=1deg j4=52deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=26mm [----] smallbox_0->pocket=191mm
299
+ >> 08-11 18:55:30 [gen] step 200: lag=3/69mm(med/max) ORI=0deg j4=45deg(sat0.24) smallbox_0_tilt=6deg eef->smallbox_0=24mm [grip] smallbox_0->pocket=198mm
300
+ >> 08-11 18:56:07 [gen] step 240: lag=3/69mm(med/max) ORI=0deg j4=45deg(sat0.24) smallbox_0_tilt=6deg eef->smallbox_0=24mm [grip] smallbox_0->pocket=198mm
301
+ >> 08-11 18:56:44 [gen] step 280: lag=4/70mm(med/max) ORI=0deg j4=45deg(sat0.24) smallbox_0_tilt=6deg eef->smallbox_0=24mm [grip] smallbox_0->pocket=198mm
302
+ >> 08-11 18:57:25 [gen] step 320: lag=12/69mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_0_tilt=5deg eef->smallbox_0=24mm [grip] smallbox_0->pocket=214mm
303
+ >> 08-11 18:58:01 [gen] step 360: lag=11/69mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_0_tilt=9deg eef->smallbox_0=23mm [grip] smallbox_0->pocket=133mm
304
+ >> 08-11 18:58:36 [gen] step 400: lag=2/69mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_0_tilt=9deg eef->smallbox_0=23mm [grip] smallbox_0->pocket=129mm
305
+ >> 08-11 18:59:17 [gen] step 440: lag=5/69mm(med/max) ORI=1deg j4=66deg(sat0.12) smallbox_0_tilt=25deg eef->smallbox_0=19mm [----] smallbox_0->pocket=45mm
306
+ >> 08-11 18:59:52 [gen] step 480: lag=1/69mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_0_tilt=1deg eef->smallbox_0=53mm [----] smallbox_0->pocket=45mm
307
+ >> 08-11 19:00:37 [gen] step 520: lag=2/69mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_0_tilt=1deg eef->smallbox_0=45mm [grip] smallbox_0->pocket=45mm
308
+ >> 08-11 19:01:14 [gen] step 560: lag=2/69mm(med/max) ORI=1deg j4=76deg(sat0.07) smallbox_0_tilt=3deg eef->smallbox_0=18mm [grip] smallbox_0->pocket=46mm
309
+ >> 08-11 19:01:49 [gen] step 600: lag=3/69mm(med/max) ORI=0deg j4=81deg(sat0.04) smallbox_0_tilt=1deg eef->smallbox_0=37mm [grip] smallbox_0->pocket=46mm
310
+ >> 08-11 19:02:24 [gen] step 640: lag=0/69mm(med/max) ORI=0deg j4=80deg(sat0.04) smallbox_0_tilt=1deg eef->smallbox_0=37mm [grip] smallbox_0->pocket=46mm
311
+ >> 08-11 19:02:24 [wpgen/press] push_seat_0: peak press force N all med=1.25 max=31.00 CONTACT n=302/512 med=5.85 p90=19.59 max=31.00 (gate 1.50 <= f <= 20.00)
312
+ >> 08-11 19:04:44 [wpgen/progress] batch 1 (cube b0): 115/512 kept running 115/400 (512 rollouts)
313
+ >> 08-11 19:04:51 [gen] step 680: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=401mm [----] smallbox_3->pocket=229mm
314
+ >> 08-11 19:05:30 [gen] step 720: lag=71/89mm(med/max) ORI=2deg j2=24deg(sat0.13) smallbox_3_tilt=1deg eef->smallbox_3=419mm [----] smallbox_3->pocket=229mm
315
+ >> 08-11 19:06:04 [gen] step 760: lag=21/112mm(med/max) ORI=1deg j3=-49deg(sat0.29) smallbox_3_tilt=1deg eef->smallbox_3=211mm [----] smallbox_3->pocket=229mm
316
+ >> 08-11 19:06:37 [gen] step 800: lag=0/41mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=26mm [----] smallbox_3->pocket=229mm
317
+ >> 08-11 19:07:13 [gen] step 840: lag=6/56mm(med/max) ORI=1deg j4=68deg(sat0.11) smallbox_3_tilt=5deg eef->smallbox_3=25mm [grip] smallbox_3->pocket=235mm
318
+ >> 08-11 19:07:48 [gen] step 880: lag=3/71mm(med/max) ORI=0deg j4=65deg(sat0.13) smallbox_3_tilt=5deg eef->smallbox_3=25mm [grip] smallbox_3->pocket=235mm
319
+ >> 08-11 19:08:23 [gen] step 920: lag=3/89mm(med/max) ORI=0deg j4=65deg(sat0.13) smallbox_3_tilt=5deg eef->smallbox_3=25mm [grip] smallbox_3->pocket=235mm
320
+ >> 08-11 19:08:58 [gen] step 960: lag=3/89mm(med/max) ORI=0deg j4=65deg(sat0.13) smallbox_3_tilt=5deg eef->smallbox_3=25mm [grip] smallbox_3->pocket=235mm
321
+ >> 08-11 19:09:39 [gen] step 1000: lag=14/89mm(med/max) ORI=0deg j4=86deg(sat0.01) smallbox_3_tilt=5deg eef->smallbox_3=25mm [grip] smallbox_3->pocket=220mm
322
+ >> 08-11 19:10:15 [gen] step 1040: lag=9/60mm(med/max) ORI=1deg j4=74deg(sat0.08) smallbox_3_tilt=5deg eef->smallbox_3=25mm [grip] smallbox_3->pocket=163mm
323
+ >> 08-11 19:10:49 [gen] step 1080: lag=2/45mm(med/max) ORI=0deg j4=71deg(sat0.09) smallbox_3_tilt=9deg eef->smallbox_3=25mm [grip] smallbox_3->pocket=161mm
324
+ >> 08-11 19:11:27 [gen] step 1120: lag=5/32mm(med/max) ORI=3deg j4=60deg(sat0.16) smallbox_3_tilt=27deg eef->smallbox_3=23mm [----] smallbox_3->pocket=56mm
325
+ >> 08-11 19:12:06 [gen] step 1160: lag=0/32mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_3_tilt=7deg eef->smallbox_3=52mm [----] smallbox_3->pocket=51mm
326
+ >> 08-11 19:12:42 [gen] step 1200: lag=1/32mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=47mm [grip] smallbox_3->pocket=50mm
327
+ >> 08-11 19:13:18 [gen] step 1240: lag=2/32mm(med/max) ORI=1deg j4=69deg(sat0.11) smallbox_3_tilt=2deg eef->smallbox_3=19mm [grip] smallbox_3->pocket=49mm
328
+ >> 08-11 19:13:52 [gen] step 1280: lag=8/32mm(med/max) ORI=1deg j4=73deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=38mm [grip] smallbox_3->pocket=48mm
329
+ >> 08-11 19:14:26 [gen] step 1320: lag=0/32mm(med/max) ORI=0deg j4=73deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=44mm [grip] smallbox_3->pocket=48mm
330
+ >> 08-11 19:14:31 [wpgen/press] push_seat_3: peak press force N all med=1.28 max=31.33 CONTACT n=304/512 med=5.09 p90=19.42 max=31.33 (gate 1.50 <= f <= 20.00)
331
+ >> 08-11 19:17:17 [wpgen/progress] batch 2 (cube b3): 122/512 kept running 237/400 (1024 rollouts)
332
+ >> 08-11 19:17:20 [gen] step 1360: lag=74/74mm(med/max) ORI=2deg j2=12deg(sat0.07) smallbox_1_tilt=1deg eef->smallbox_1=346mm [----] smallbox_1->pocket=202mm
333
+ >> 08-11 19:18:00 [gen] step 1400: lag=52/63mm(med/max) ORI=1deg j2=17deg(sat0.10) smallbox_1_tilt=1deg eef->smallbox_1=376mm [----] smallbox_1->pocket=202mm
334
+ >> 08-11 19:18:33 [gen] step 1440: lag=20/108mm(med/max) ORI=1deg j4=39deg(sat0.28) smallbox_2_tilt=1deg eef->smallbox_2=223mm [----] smallbox_2->pocket=162mm
335
+ >> 08-11 19:19:07 [gen] step 1480: lag=1/61mm(med/max) ORI=0deg j4=86deg(sat0.01) smallbox_2_tilt=1deg eef->smallbox_2=85mm [----] smallbox_2->pocket=162mm
336
+ >> 08-11 19:19:43 [gen] step 1520: lag=6/48mm(med/max) ORI=0deg j4=75deg(sat0.07) smallbox_2_tilt=1deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=161mm
337
+ >> 08-11 19:20:18 [gen] step 1560: lag=3/62mm(med/max) ORI=2deg j4=71deg(sat0.10) smallbox_2_tilt=1deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=162mm
338
+ >> 08-11 19:20:54 [gen] step 1600: lag=3/37mm(med/max) ORI=2deg j4=71deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=162mm
339
+ >> 08-11 19:21:28 [gen] step 1640: lag=3/39mm(med/max) ORI=1deg j4=71deg(sat0.09) smallbox_2_tilt=0deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=166mm
340
+ >> 08-11 19:22:10 [gen] step 1680: lag=13/39mm(med/max) ORI=3deg j4=88deg(sat0.00) smallbox_2_tilt=1deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=170mm
341
+ >> 08-11 19:22:45 [gen] step 1720: lag=10/54mm(med/max) ORI=0deg j4=82deg(sat0.04) smallbox_2_tilt=7deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=133mm
342
+ >> 08-11 19:23:18 [gen] step 1760: lag=2/48mm(med/max) ORI=0deg j4=82deg(sat0.04) smallbox_2_tilt=7deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=133mm
343
+ >> 08-11 19:23:56 [gen] step 1800: lag=4/37mm(med/max) ORI=0deg j4=73deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=21mm [----] smallbox_2->pocket=54mm
344
+ >> 08-11 19:24:35 [gen] step 1840: lag=1/37mm(med/max) ORI=0deg j4=77deg(sat0.06) smallbox_2_tilt=1deg eef->smallbox_2=79mm [----] smallbox_2->pocket=53mm
345
+ >> 08-11 19:25:09 [gen] step 1880: lag=1/37mm(med/max) ORI=0deg j4=73deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=59mm [----] smallbox_2->pocket=52mm
346
+ >> 08-11 19:25:48 [gen] step 1920: lag=4/37mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_2_tilt=1deg eef->smallbox_2=32mm [grip] smallbox_2->pocket=52mm
347
+ >> 08-11 19:26:22 [gen] step 1960: lag=7/37mm(med/max) ORI=1deg j4=68deg(sat0.11) smallbox_2_tilt=1deg eef->smallbox_2=25mm [grip] smallbox_2->pocket=52mm
348
+ >> 08-11 19:26:56 [gen] step 2000: lag=0/37mm(med/max) ORI=0deg j4=71deg(sat0.10) smallbox_2_tilt=1deg eef->smallbox_2=26mm [grip] smallbox_2->pocket=52mm
349
+ >> 08-11 19:27:05 [wpgen/press] push_seat_2: peak press force N all med=1.28 max=47.88 CONTACT n=313/512 med=5.57 p90=20.73 max=47.88 (gate 1.50 <= f <= 20.00)
350
+ >> 08-11 19:27:32 [gen] step 2040: lag=1/37mm(med/max) ORI=0deg j4=71deg(sat0.10) smallbox_2_tilt=1deg eef->smallbox_2=26mm [grip] smallbox_2->pocket=52mm
351
+ >> 08-11 19:30:23 [wpgen/progress] batch 3 (cube b2): 126/512 kept running 363/400 (1536 rollouts)
352
+ >> 08-11 19:31:01 [gen] step 2080: lag=26/31mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_0_tilt=1deg eef->smallbox_0=381mm [----] smallbox_0->pocket=269mm
353
+ >> 08-11 19:31:34 [gen] step 2120: lag=19/125mm(med/max) ORI=3deg j5=64deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=257mm [----] smallbox_1->pocket=149mm
354
+ >> 08-11 19:32:08 [gen] step 2160: lag=3/70mm(med/max) ORI=1deg j4=58deg(sat0.17) smallbox_1_tilt=1deg eef->smallbox_1=54mm [----] smallbox_1->pocket=149mm
355
+ >> 08-11 19:32:44 [gen] step 2200: lag=7/37mm(med/max) ORI=1deg j4=46deg(sat0.24) smallbox_1_tilt=2deg eef->smallbox_1=21mm [grip] smallbox_1->pocket=144mm
356
+ >> 08-11 19:33:19 [gen] step 2240: lag=3/65mm(med/max) ORI=1deg j3=-40deg(sat0.23) smallbox_1_tilt=1deg eef->smallbox_1=21mm [grip] smallbox_1->pocket=147mm
357
+ >> 08-11 19:33:54 [gen] step 2280: lag=3/34mm(med/max) ORI=1deg j3=-40deg(sat0.24) smallbox_1_tilt=1deg eef->smallbox_1=21mm [grip] smallbox_1->pocket=147mm
358
+ >> 08-11 19:34:29 [gen] step 2320: lag=3/34mm(med/max) ORI=1deg j3=-40deg(sat0.24) smallbox_1_tilt=1deg eef->smallbox_1=21mm [grip] smallbox_1->pocket=147mm
359
+ >> 08-11 19:35:11 [gen] step 2360: lag=11/35mm(med/max) ORI=0deg j4=68deg(sat0.11) smallbox_1_tilt=5deg eef->smallbox_1=19mm [grip] smallbox_1->pocket=211mm
360
+ >> 08-11 19:35:46 [gen] step 2400: lag=14/79mm(med/max) ORI=1deg j4=73deg(sat0.09) smallbox_1_tilt=8deg eef->smallbox_1=19mm [grip] smallbox_1->pocket=150mm
361
+ >> 08-11 19:36:20 [gen] step 2440: lag=2/56mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_1_tilt=19deg eef->smallbox_1=19mm [grip] smallbox_1->pocket=150mm
362
+ >> 08-11 19:36:57 [gen] step 2480: lag=7/22mm(med/max) ORI=0deg j4=77deg(sat0.06) smallbox_1_tilt=21deg eef->smallbox_1=19mm [grip] smallbox_1->pocket=67mm
363
+ >> 08-11 19:37:31 [gen] step 2520: lag=2/20mm(med/max) ORI=0deg j4=68deg(sat0.11) smallbox_1_tilt=2deg eef->smallbox_1=23mm [grip] smallbox_1->pocket=51mm
364
+ >> 08-11 19:38:12 [gen] step 2560: lag=11/28mm(med/max) ORI=0deg j4=75deg(sat0.07) smallbox_1_tilt=1deg eef->smallbox_1=52mm [----] smallbox_1->pocket=46mm
365
+ >> 08-11 19:38:46 [gen] step 2600: lag=0/29mm(med/max) ORI=0deg j4=75deg(sat0.07) smallbox_1_tilt=1deg eef->smallbox_1=77mm [----] smallbox_1->pocket=46mm
366
+ >> 08-11 19:39:22 [gen] step 2640: lag=5/43mm(med/max) ORI=0deg j4=67deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=39mm [grip] smallbox_1->pocket=46mm
367
+ >> 08-11 19:40:00 [gen] step 2680: lag=5/31mm(med/max) ORI=1deg j4=63deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=21mm [grip] smallbox_1->pocket=46mm
368
+ >> 08-11 19:40:35 [gen] step 2720: lag=0/22mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_2_tilt=1deg eef->smallbox_2=130mm [----] smallbox_2->pocket=42mm
369
+ >> 08-11 19:40:50 [wpgen/press] push_seat_1: peak press force N all med=1.56 max=70.24 CONTACT n=300/512 med=4.26 p90=14.80 max=70.24 (gate 1.50 <= f <= 20.00)
370
+ >> 08-11 19:41:09 [gen] step 2760: lag=2/28mm(med/max) ORI=3deg j4=88deg(sat0.00) smallbox_2_tilt=1deg eef->smallbox_2=173mm [----] smallbox_2->pocket=42mm
371
+ >> 08-11 19:44:23 [wpgen/progress] batch 4 (cube b1): 173/512 kept running 536/400 (2048 rollouts)
372
+ >> 08-11 19:44:23 [wpgen/done] DONE (batched chunks): 536/400 kept in 2048 rollouts (4 batches of 512). success 536 | fail@[place_smallbox_0 162, push_seat_0 191, grasp_smallbox_0 41, motion:right_arm:j5_pos 33, place_smallbox_3 201, push_seat_3 169, grasp_smallbox_3 11, push_seat_2 177, place_smallbox_2 155, grasp_smallbox_2 43, push_seat_1 163, place_smallbox_1 159, grasp_smallbox_1 3, motion:right_arm:j1_acc 3, motion:right_arm:j5_acc 1] (fail rate 1512/2048 = 74%)
373
+ >> 08-11 19:44:23 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
374
+ >> 08-11 19:44:23 [wpgen/done] b0->s0: 25 [ 128, 20%] b0->s1: 29 [ 128, 23%] b0->s2: 33 [ 128, 26%] b0->s3: 28 [ 128, 22%] | b0 total 115
375
+ >> 08-11 19:44:23 [wpgen/done] b1->s0: 45 [ 128, 35%] b1->s1: 42 [ 128, 33%] b1->s2: 39 [ 128, 30%] b1->s3: 47 [ 128, 37%] | b1 total 173
376
+ >> 08-11 19:44:23 [wpgen/done] b2->s0: 18 [ 128, 14%] b2->s1: 34 [ 128, 27%] b2->s2: 32 [ 128, 25%] b2->s3: 42 [ 128, 33%] | b2 total 126
377
+ >> 08-11 19:44:23 [wpgen/done] b3->s0: 26 [ 128, 20%] b3->s1: 27 [ 128, 21%] b3->s2: 35 [ 128, 27%] b3->s3: 34 [ 128, 27%] | b3 total 122
378
+ >> 08-11 19:44:23 [wpgen/done] per-slot totals: s0= 114 s1= 132 s2= 139 s3= 151
379
+ >> 08-11 19:44:23 [wpgen/done] balance: min 18, max 47 per pair (2.6x spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
380
+ | | | | 2901 | 486360fa.. |
381
+ | | | | | | 8d | |
382
+ |---------------------------------------------------------------------------------------------|
383
+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
384
+ | | | | | | 2901 | 88cabb84.. |
385
+ | | | | | | 95 | |
386
+ |=============================================================================================|
387
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
388
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
389
+ | Cores: 104 | Logical Cores: 208
390
+ |---------------------------------------------------------------------------------------------|
391
+ | Total Memory (MB): 2922999 | Free Memory: 2688004
392
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
393
+ |---------------------------------------------------------------------------------------------|
394
+ 2026-08-11T18:52:11Z [23,272ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 3
395
+ 2026-08-11T18:52:12Z [23,688ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
396
+ 2026-08-11T18:52:12Z [23,688ms] [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)
397
+ 2026-08-11T18:52:12Z [23,713ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
398
+ 2026-08-11T18:52:12Z [23,713ms] [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)
399
+ 2026-08-11T18:52:12Z [23,724ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
400
+ 2026-08-11T18:52:12Z [23,724ms] [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)
401
+ 2026-08-11T18:52:12Z [23,733ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
402
+ 2026-08-11T18:52:12Z [23,733ms] [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)
403
+ 2026-08-11T18:52:12Z [23,735ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
404
+ 2026-08-11T18:52:12Z [23,735ms] [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)
405
+ 2026-08-11T18:52:12Z [23,736ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
406
+ 2026-08-11T18:52:12Z [23,736ms] [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)
407
+ 2026-08-11T18:52:12Z [24,237ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
408
+ 2026-08-11T18:52:12Z [24,464ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
small_boxes/0720_3/gen/gpu3_failed.hdf5 ADDED
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+ size 909357281
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+ size 250302224
small_boxes/0720_3/gen/gpu4.log ADDED
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+ 
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+ 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'
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+ [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_185148.log
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+ 2026-08-11T18:51:48Z [79ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
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+ 2026-08-11T18:51:48Z [339ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
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+ 2026-08-11T18:51:48Z [458ms] [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.
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+ 2026-08-11T18:51:48Z [467ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-08-11T18:51:58Z [10,047ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
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+ 2026-08-11T18:51:58Z [10,047ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
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+ 2026-08-11T18:51:58Z [10,047ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
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+ 2026-08-11T18:52:03Z [14,613ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,613ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,671ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,671ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,709ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,709ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,749ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,749ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,777ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,777ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,778ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,778ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,779ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,779ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:03Z [14,780ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ | 2 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 486360fa.. |
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
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+ [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.
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+ [INFO][AppLauncher]: Using device: cuda
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+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
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+ >> 08-11 18:52:04 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
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+ >> 08-11 18:52:04 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
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+ >> 08-11 18:52:04 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
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+ >> 08-11 18:52:04 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
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+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 88cabb84.. |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
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+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
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+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
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+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
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+ | Total Memory (MB): 2922999 | Free Memory: 2692616
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+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-08-11T18:52:04Z [16,198ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4
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+ 2026-08-11T18:52:04Z [16,252ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
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+ 2026-08-11T18:52:14Z [26,459ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:14Z [26,459ms] [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)
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+ 2026-08-11T18:52:15Z [26,607ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,607ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,609ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,609ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,610ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,610ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,611ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,611ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,614ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,614ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,616ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,616ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,617ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,617ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:15Z [26,618ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |=============================================================================================|
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+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ | | | | | | Device-ID | UUID |
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+ | | | | | | Bus-ID | |
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+ | 0 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 95a5621d.. |
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+ | | | | | | 63 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 1 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | 2 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | f78282a5.. |
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+ | | | | | | 71 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-17.log
164
+ ======================================================================================
165
+
166
+ 18:52:17 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
169
+ Environment seed : None
170
+ Physics step-size : 0.0020833333333333333
171
+ Rendering step-size : 0.016666666666666666
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+ Environment step-size : 0.016666666666666666
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+ [INFO]: Time taken for scene creation : 5.248357 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
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+ Environment spacing : 3.0
177
+ Source prim name : /World/envs/env_0
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+ Global prim paths : []
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+ Replicate physics : True
180
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 1.773115 seconds
182
+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
183
+ +------------------------+
184
+ | Active Command Terms |
185
+ +--------+-------+-------+
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+ | Index | Name | Type |
187
+ +--------+-------+-------+
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+ +--------+-------+-------+
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+ [INFO] Event Manager: <EventManager> contains 1 active terms.
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+ +-------------------------------------+
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+ | Index | Name |
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+ +----------+--------------------------+
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+ | 0 | randomize_layout |
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+ | 1 | seat_brush |
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+ | 2 | seat_bottles |
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+ +----------+--------------------------+
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+
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+ [INFO] Recorder Manager: <RecorderManager> contains 6 active terms.
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+ +--------------------------------------------------+
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+ | 2 | record_pre_step_actions |
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+ | 3 | record_pre_step_flat_policy_observations |
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+ | 4 | record_post_step_processed_actions |
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+ | 5 | record_post_step_joint_commands |
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+ +-------+------------------------------------------+
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+
215
+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
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+ | Active Action Terms (shape: 8) |
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+ +-------+---------------+-----------+
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+ | 0 | right_arm | 7 |
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+ | 1 | right_gripper | 1 |
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+ +-------+---------------+-----------+
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+
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+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
226
+ +----------------------------------------------+
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+ | Active Observation Terms in Group: 'policy' |
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+ +----------+------------------------+----------+
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+ | Index | Name | Shape |
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+ +----------+------------------------+----------+
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+ | 0 | actions | (8,) |
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+ | 1 | left_eef_pos | (3,) |
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+ | 2 | left_eef_quat | (4,) |
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+ | 3 | right_eef_pos | (3,) |
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+ | 4 | right_eef_quat | (4,) |
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+ | 5 | left_gripper | (1,) |
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+ | 6 | right_gripper | (1,) |
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+ | 7 | box_pose | (7,) |
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+ | 8 | smallbox_0_pose | (7,) |
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+ | 9 | smallbox_1_pose | (7,) |
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+ | 10 | smallbox_2_pose | (7,) |
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+ | 11 | smallbox_3_pose | (7,) |
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+ +----------+------------------------+----------+
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+ +---------------------------------------------------+
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+ +----------+-----------------------------+----------+
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+ | Index | Name | Shape |
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+ +----------+-----------------------------+----------+
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+ | 0 | grasp_smallbox_0 | () |
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+ | 1 | smallbox_0_placed | () |
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+ | 2 | grasp_smallbox_1 | () |
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+ | 3 | smallbox_1_placed | () |
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+ | 4 | grasp_smallbox_2 | () |
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+ | 5 | smallbox_2_placed | () |
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+ | 6 | grasp_smallbox_3 | () |
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+ | 7 | smallbox_3_placed | () |
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+ +----------+-----------------------------+----------+
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+
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+ [INFO] Termination Manager: <TerminationManager> contains 1 active terms.
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+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
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+ +-----------------------+
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+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
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+ +----------------------+
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+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:24 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:24 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:25 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:25 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:25 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:25 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:25 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:25 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:25 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:25 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:10 [gen] step 40: lag=34/41mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=397mm [----] smallbox_1->pocket=207mm
296
+ >> 08-11 18:53:43 [gen] step 80: lag=19/125mm(med/max) ORI=3deg j5=58deg(sat0.18) smallbox_1_tilt=1deg eef->smallbox_1=262mm [----] smallbox_1->pocket=207mm
297
+ >> 08-11 18:54:17 [gen] step 120: lag=2/69mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_1_tilt=1deg eef->smallbox_1=116mm [----] smallbox_1->pocket=207mm
298
+ >> 08-11 18:54:52 [gen] step 160: lag=7/32mm(med/max) ORI=1deg j4=56deg(sat0.18) smallbox_1_tilt=1deg eef->smallbox_1=18mm [----] smallbox_1->pocket=207mm
299
+ >> 08-11 18:55:26 [gen] step 200: lag=3/67mm(med/max) ORI=0deg j4=52deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=10mm [grip] smallbox_1->pocket=205mm
300
+ >> 08-11 18:56:01 [gen] step 240: lag=3/34mm(med/max) ORI=0deg j4=52deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=10mm [grip] smallbox_1->pocket=205mm
301
+ >> 08-11 18:56:36 [gen] step 280: lag=3/34mm(med/max) ORI=0deg j4=52deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=10mm [grip] smallbox_1->pocket=205mm
302
+ >> 08-11 18:57:18 [gen] step 320: lag=10/31mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_1_tilt=1deg eef->smallbox_1=10mm [grip] smallbox_1->pocket=242mm
303
+ >> 08-11 18:57:54 [gen] step 360: lag=13/45mm(med/max) ORI=1deg j4=78deg(sat0.06) smallbox_1_tilt=7deg eef->smallbox_1=10mm [grip] smallbox_1->pocket=125mm
304
+ >> 08-11 18:58:28 [gen] step 400: lag=2/40mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_1_tilt=8deg eef->smallbox_1=10mm [grip] smallbox_1->pocket=107mm
305
+ >> 08-11 18:59:08 [gen] step 440: lag=7/37mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_1_tilt=4deg eef->smallbox_1=10mm [grip] smallbox_1->pocket=72mm
306
+ >> 08-11 18:59:42 [gen] step 480: lag=4/62mm(med/max) ORI=0deg j4=78deg(sat0.05) smallbox_1_tilt=1deg eef->smallbox_1=68mm [----] smallbox_1->pocket=54mm
307
+ >> 08-11 19:00:24 [gen] step 520: lag=5/33mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_1_tilt=1deg eef->smallbox_1=75mm [----] smallbox_1->pocket=53mm
308
+ >> 08-11 19:00:59 [gen] step 560: lag=0/26mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_1_tilt=1deg eef->smallbox_1=75mm [----] smallbox_1->pocket=53mm
309
+ >> 08-11 19:01:35 [gen] step 600: lag=4/35mm(med/max) ORI=1deg j4=75deg(sat0.07) smallbox_1_tilt=1deg eef->smallbox_1=24mm [grip] smallbox_1->pocket=53mm
310
+ >> 08-11 19:02:10 [gen] step 640: lag=5/26mm(med/max) ORI=0deg j4=68deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=12mm [grip] smallbox_1->pocket=52mm
311
+ >> 08-11 19:02:49 [gen] step 680: lag=0/26mm(med/max) ORI=3deg j4=61deg(sat0.16) smallbox_1_tilt=1deg eef->smallbox_1=15mm [grip] smallbox_1->pocket=50mm
312
+ >> 08-11 19:02:59 [wpgen/press] push_seat_1: peak press force N all med=1.46 max=31.34 CONTACT n=314/512 med=4.96 p90=20.70 max=31.34 (gate 1.50 <= f <= 20.00)
313
+ >> 08-11 19:03:24 [gen] step 720: lag=1/26mm(med/max) ORI=0deg j4=71deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=31mm [----] smallbox_1->pocket=51mm
314
+ >> 08-11 19:05:22 [wpgen/progress] batch 1 (cube b1): 133/512 kept running 133/400 (512 rollouts)
315
+ >> 08-11 19:06:01 [gen] step 760: lag=25/31mm(med/max) ORI=1deg j2=17deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=376mm [----] smallbox_1->pocket=257mm
316
+ >> 08-11 19:06:34 [gen] step 800: lag=19/146mm(med/max) ORI=1deg j3=-46deg(sat0.27) smallbox_2_tilt=1deg eef->smallbox_2=231mm [----] smallbox_2->pocket=240mm
317
+ >> 08-11 19:07:08 [gen] step 840: lag=4/63mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_2_tilt=1deg eef->smallbox_2=84mm [----] smallbox_2->pocket=240mm
318
+ >> 08-11 19:07:44 [gen] step 880: lag=7/33mm(med/max) ORI=1deg j4=79deg(sat0.05) smallbox_2_tilt=1deg eef->smallbox_2=34mm [----] smallbox_2->pocket=240mm
319
+ >> 08-11 19:08:19 [gen] step 920: lag=3/102mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=238mm
320
+ >> 08-11 19:08:53 [gen] step 960: lag=3/97mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=237mm
321
+ >> 08-11 19:09:28 [gen] step 1000: lag=3/96mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=237mm
322
+ >> 08-11 19:10:10 [gen] step 1040: lag=10/93mm(med/max) ORI=4deg j4=88deg(sat-0.00) smallbox_2_tilt=3deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=266mm
323
+ >> 08-11 19:10:44 [gen] step 1080: lag=12/93mm(med/max) ORI=6deg j4=88deg(sat-0.00) smallbox_2_tilt=6deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=107mm
324
+ >> 08-11 19:11:19 [gen] step 1120: lag=2/92mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_2_tilt=4deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=53mm
325
+ >> 08-11 19:11:56 [gen] step 1160: lag=7/92mm(med/max) ORI=0deg j4=87deg(sat0.00) smallbox_2_tilt=4deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=47mm
326
+ >> 08-11 19:12:32 [gen] step 1200: lag=2/92mm(med/max) ORI=0deg j4=88deg(sat-0.00) smallbox_2_tilt=3deg eef->smallbox_2=11mm [grip] smallbox_2->pocket=48mm
327
+ >> 08-11 19:13:13 [gen] step 1240: lag=11/44mm(med/max) ORI=4deg j4=88deg(sat0.00) smallbox_2_tilt=31deg eef->smallbox_2=34mm [----] smallbox_2->pocket=43mm
328
+ >> 08-11 19:13:47 [gen] step 1280: lag=1/44mm(med/max) ORI=1deg j4=86deg(sat0.01) smallbox_2_tilt=31deg eef->smallbox_2=25mm [----] smallbox_2->pocket=43mm
329
+ >> 08-11 19:14:26 [gen] step 1320: lag=2/44mm(med/max) ORI=2deg j4=81deg(sat0.04) smallbox_2_tilt=19deg eef->smallbox_2=21mm [grip] smallbox_2->pocket=45mm
330
+ >> 08-11 19:15:02 [gen] step 1360: lag=7/44mm(med/max) ORI=1deg j4=74deg(sat0.08) smallbox_2_tilt=1deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=45mm
331
+ >> 08-11 19:15:36 [gen] step 1400: lag=0/44mm(med/max) ORI=2deg j4=72deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=26mm [grip] smallbox_2->pocket=45mm
332
+ >> 08-11 19:15:39 [wpgen/press] push_seat_2: peak press force N all med=1.30 max=27.26 CONTACT n=293/512 med=4.65 p90=12.88 max=27.26 (gate 1.50 <= f <= 20.00)
333
+ >> 08-11 19:18:35 [wpgen/progress] batch 2 (cube b2): 157/512 kept running 290/400 (1024 rollouts)
334
+ >> 08-11 19:18:40 [gen] step 1440: lag=88/88mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=377mm [----] smallbox_3->pocket=158mm
335
+ >> 08-11 19:19:21 [gen] step 1480: lag=60/73mm(med/max) ORI=1deg j2=17deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=390mm [----] smallbox_3->pocket=158mm
336
+ >> 08-11 19:19:56 [gen] step 1520: lag=20/123mm(med/max) ORI=2deg j4=46deg(sat0.24) smallbox_3_tilt=1deg eef->smallbox_3=235mm [----] smallbox_3->pocket=158mm
337
+ >> 08-11 19:20:30 [gen] step 1560: lag=2/50mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_3_tilt=1deg eef->smallbox_3=115mm [----] smallbox_3->pocket=158mm
338
+ >> 08-11 19:21:06 [gen] step 1600: lag=7/91mm(med/max) ORI=3deg j4=58deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=18mm [grip] smallbox_3->pocket=151mm
339
+ >> 08-11 19:21:42 [gen] step 1640: lag=3/61mm(med/max) ORI=4deg j4=58deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=34mm [grip] smallbox_3->pocket=142mm
340
+ >> 08-11 19:22:19 [gen] step 1680: lag=2/47mm(med/max) ORI=4deg j4=59deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=34mm [grip] smallbox_3->pocket=142mm
341
+ >> 08-11 19:22:55 [gen] step 1720: lag=3/56mm(med/max) ORI=4deg j4=58deg(sat0.17) smallbox_3_tilt=1deg eef->smallbox_3=32mm [grip] smallbox_3->pocket=141mm
342
+ >> 08-11 19:23:39 [gen] step 1760: lag=14/55mm(med/max) ORI=3deg j4=85deg(sat0.02) smallbox_1_tilt=24deg eef->smallbox_1=74mm [----] smallbox_1->pocket=49mm
343
+ >> 08-11 19:24:15 [gen] step 1800: lag=12/57mm(med/max) ORI=2deg j4=68deg(sat0.11) smallbox_1_tilt=10deg eef->smallbox_1=77mm [----] smallbox_1->pocket=49mm
344
+ >> 08-11 19:24:49 [gen] step 1840: lag=2/56mm(med/max) ORI=2deg j4=68deg(sat0.11) smallbox_1_tilt=10deg eef->smallbox_1=77mm [----] smallbox_1->pocket=49mm
345
+ >> 08-11 19:25:28 [gen] step 1880: lag=7/56mm(med/max) ORI=0deg j4=69deg(sat0.11) smallbox_0_tilt=1deg eef->smallbox_0=87mm [----] smallbox_0->pocket=50mm
346
+ >> 08-11 19:26:04 [gen] step 1920: lag=2/56mm(med/max) ORI=0deg j4=77deg(sat0.06) smallbox_0_tilt=1deg eef->smallbox_0=115mm [----] smallbox_0->pocket=50mm
347
+ >> 08-11 19:26:44 [gen] step 1960: lag=3/56mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_0_tilt=1deg eef->smallbox_0=129mm [----] smallbox_0->pocket=50mm
348
+ >> 08-11 19:27:24 [gen] step 2000: lag=8/56mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_0_tilt=1deg eef->smallbox_0=129mm [----] smallbox_0->pocket=50mm
349
+ >> 08-11 19:27:59 [gen] step 2040: lag=2/56mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_0_tilt=1deg eef->smallbox_0=130mm [----] smallbox_0->pocket=50mm
350
+ >> 08-11 19:28:35 [gen] step 2080: lag=1/56mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_0_tilt=1deg eef->smallbox_0=130mm [----] smallbox_0->pocket=50mm
351
+ >> 08-11 19:28:57 [wpgen/press] push_seat_3: peak press force N all med=1.35 max=37.78 CONTACT n=324/512 med=5.14 p90=17.05 max=37.78 (gate 1.50 <= f <= 20.00)
352
+ >> 08-11 19:29:17 [gen] step 2120: lag=3/56mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_0_tilt=1deg eef->smallbox_0=130mm [----] smallbox_0->pocket=50mm
353
+ >> 08-11 19:32:15 [wpgen/progress] batch 3 (cube b3): 133/512 kept running 423/400 (1536 rollouts)
354
+ >> 08-11 19:32:15 [wpgen/done] DONE (batched chunks): 423/400 kept in 1536 rollouts (3 batches of 512). success 423 | fail@[place_smallbox_1 192, push_seat_1 175, motion:right_arm:j5_pos 33, motion:right_arm:j1_acc 3, grasp_smallbox_1 2, place_smallbox_2 126, push_seat_2 169, grasp_smallbox_2 46, motion:right_arm:j4_acc 1, place_smallbox_3 183, push_seat_3 163, grasp_smallbox_3 20] (fail rate 1113/1536 = 72%)
355
+ >> 08-11 19:32:15 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
356
+ >> 08-11 19:32:15 [wpgen/done] b0->s0: 0 [ 0, 0%] b0->s1: 0 [ 0, 0%] b0->s2: 0 [ 0, 0%] b0->s3: 0 [ 0, 0%] | b0 total 0
357
+ >> 08-11 19:32:15 [wpgen/done] b1->s0: 26 [ 128, 20%] b1->s1: 29 [ 128, 23%] b1->s2: 36 [ 128, 28%] b1->s3: 42 [ 128, 33%] | b1 total 133
358
+ >> 08-11 19:32:15 [wpgen/done] b2->s0: 39 [ 128, 30%] b2->s1: 32 [ 128, 25%] b2->s2: 42 [ 128, 33%] b2->s3: 44 [ 128, 34%] | b2 total 157
359
+ >> 08-11 19:32:15 [wpgen/done] b3->s0: 28 [ 128, 22%] b3->s1: 32 [ 128, 25%] b3->s2: 33 [ 128, 26%] b3->s3: 40 [ 128, 31%] | b3 total 133
360
+ >> 08-11 19:32:15 [wpgen/done] per-slot totals: s0= 93 s1= 93 s2= 111 s3= 126
361
+ >> 08-11 19:32:15 [wpgen/done] balance: min 0, max 44 per pair (infx spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
362
+ | | | | 2901 | 486360fa.. |
363
+ | | | | | | 8d | |
364
+ |---------------------------------------------------------------------------------------------|
365
+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
366
+ | | | | | | 2901 | 88cabb84.. |
367
+ | | | | | | 95 | |
368
+ |=============================================================================================|
369
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
370
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
371
+ | Cores: 104 | Logical Cores: 208
372
+ |---------------------------------------------------------------------------------------------|
373
+ | Total Memory (MB): 2922999 | Free Memory: 2680746
374
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
375
+ |---------------------------------------------------------------------------------------------|
376
+ 2026-08-11T18:52:15Z [27,562ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 4
377
+ 2026-08-11T18:52:16Z [27,928ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
378
+ 2026-08-11T18:52:16Z [27,928ms] [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)
379
+ 2026-08-11T18:52:16Z [27,951ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
380
+ 2026-08-11T18:52:16Z [27,951ms] [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)
381
+ 2026-08-11T18:52:16Z [27,962ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
382
+ 2026-08-11T18:52:16Z [27,962ms] [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)
383
+ 2026-08-11T18:52:16Z [27,971ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
384
+ 2026-08-11T18:52:16Z [27,971ms] [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)
385
+ 2026-08-11T18:52:16Z [27,973ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
386
+ 2026-08-11T18:52:16Z [27,973ms] [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)
387
+ 2026-08-11T18:52:16Z [27,974ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
388
+ 2026-08-11T18:52:16Z [27,974ms] [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)
389
+ 2026-08-11T18:52:16Z [28,471ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
390
+ 2026-08-11T18:52:17Z [28,701ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
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1
+ 
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+ 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'
3
+ [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_185148.log
4
+ 2026-08-11T18:51:48Z [97ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
5
+ 2026-08-11T18:51:48Z [384ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
6
+ 2026-08-11T18:51:48Z [497ms] [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.
7
+ 2026-08-11T18:51:48Z [507ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-08-11T18:51:58Z [10,005ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
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+ 2026-08-11T18:51:58Z [10,005ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
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+ 2026-08-11T18:51:58Z [10,005ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
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+ 2026-08-11T18:52:02Z [14,390ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,390ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,403ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,416ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,416ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,428ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,428ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,429ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,429ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,431ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,431ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,433ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,433ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,434ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |=============================================================================================|
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+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ | | | | | | Device-ID | UUID |
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+ | | | | | | Bus-ID | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 0 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 95a5621d.. |
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+ | | | | | | 63 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 1 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | df2e56cb.. |
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+ | | | | | | 6b | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 2 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | f78282a5.. |
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+ | | | | | | 71 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 486360fa.. |
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
74
+ [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.
75
+ [INFO][AppLauncher]: Using device: cuda
76
+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
77
+ >> 08-11 18:52:04 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
78
+ >> 08-11 18:52:04 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
79
+ >> 08-11 18:52:04 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
80
+ >> 08-11 18:52:04 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
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+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 88cabb84.. |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
87
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
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+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
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+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
91
+ | Total Memory (MB): 2922999 | Free Memory: 2693055
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+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
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+ |---------------------------------------------------------------------------------------------|
94
+ 2026-08-11T18:52:04Z [16,235ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 5
95
+ 2026-08-11T18:52:04Z [16,298ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
96
+ 2026-08-11T18:52:12Z [24,346ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
97
+ 2026-08-11T18:52:12Z [24,346ms] [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)
98
+ 2026-08-11T18:52:12Z [24,482ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
99
+ 2026-08-11T18:52:12Z [24,482ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,483ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:12Z [24,483ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,485ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:12Z [24,485ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,486ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
105
+ 2026-08-11T18:52:12Z [24,486ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
106
+ 2026-08-11T18:52:12Z [24,487ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
107
+ 2026-08-11T18:52:12Z [24,487ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,489ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
109
+ 2026-08-11T18:52:12Z [24,489ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
110
+ 2026-08-11T18:52:12Z [24,490ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
111
+ 2026-08-11T18:52:12Z [24,490ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
112
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
113
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
115
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
117
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
119
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
120
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
121
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
123
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
124
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
125
+ 2026-08-11T18:52:12Z [24,491ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
126
+
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+ |---------------------------------------------------------------------------------------------|
128
+ | Driver Version: 580.126.20 | Graphics API: Vulkan
129
+ |=============================================================================================|
130
+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ | | | | | | Device-ID | UUID |
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+ | | | | | | Bus-ID | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 0 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 95a5621d.. |
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+ | | | | | | 63 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 1 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | df2e56cb.. |
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+ | | | | | | 6b | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 2 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | f78282a5.. |
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+ | | | | | | 71 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-15.log
164
+ ======================================================================================
165
+
166
+ 18:52:15 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
169
+ Environment seed : None
170
+ Physics step-size : 0.0020833333333333333
171
+ Rendering step-size : 0.016666666666666666
172
+ Environment step-size : 0.016666666666666666
173
+ [INFO]: Time taken for scene creation : 5.663699 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
176
+ Environment spacing : 3.0
177
+ Source prim name : /World/envs/env_0
178
+ Global prim paths : []
179
+ Replicate physics : True
180
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 1.838403 seconds
182
+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
183
+ +------------------------+
184
+ | Active Command Terms |
185
+ +--------+-------+-------+
186
+ | Index | Name | Type |
187
+ +--------+-------+-------+
188
+ +--------+-------+-------+
189
+
190
+ [INFO] Event Manager: <EventManager> contains 1 active terms.
191
+ +-------------------------------------+
192
+ | Active Event Terms in Mode: 'reset' |
193
+ +----------+--------------------------+
194
+ | Index | Name |
195
+ +----------+--------------------------+
196
+ | 0 | randomize_layout |
197
+ | 1 | seat_brush |
198
+ | 2 | seat_bottles |
199
+ +----------+--------------------------+
200
+
201
+ [INFO] Recorder Manager: <RecorderManager> contains 6 active terms.
202
+ +--------------------------------------------------+
203
+ | Active Recorder Terms |
204
+ +-------+------------------------------------------+
205
+ | Index | Name |
206
+ +-------+------------------------------------------+
207
+ | 0 | record_initial_state |
208
+ | 1 | record_post_step_states |
209
+ | 2 | record_pre_step_actions |
210
+ | 3 | record_pre_step_flat_policy_observations |
211
+ | 4 | record_post_step_processed_actions |
212
+ | 5 | record_post_step_joint_commands |
213
+ +-------+------------------------------------------+
214
+
215
+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
216
+ +-----------------------------------+
217
+ | Active Action Terms (shape: 8) |
218
+ +-------+---------------+-----------+
219
+ | Index | Name | Dimension |
220
+ +-------+---------------+-----------+
221
+ | 0 | right_arm | 7 |
222
+ | 1 | right_gripper | 1 |
223
+ +-------+---------------+-----------+
224
+
225
+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
226
+ +----------------------------------------------+
227
+ | Active Observation Terms in Group: 'policy' |
228
+ +----------+------------------------+----------+
229
+ | Index | Name | Shape |
230
+ +----------+------------------------+----------+
231
+ | 0 | actions | (8,) |
232
+ | 1 | left_eef_pos | (3,) |
233
+ | 2 | left_eef_quat | (4,) |
234
+ | 3 | right_eef_pos | (3,) |
235
+ | 4 | right_eef_quat | (4,) |
236
+ | 5 | left_gripper | (1,) |
237
+ | 6 | right_gripper | (1,) |
238
+ | 7 | box_pose | (7,) |
239
+ | 8 | smallbox_0_pose | (7,) |
240
+ | 9 | smallbox_1_pose | (7,) |
241
+ | 10 | smallbox_2_pose | (7,) |
242
+ | 11 | smallbox_3_pose | (7,) |
243
+ +----------+------------------------+----------+
244
+ +---------------------------------------------------+
245
+ | Active Observation Terms in Group: 'subtask_terms' |
246
+ +----------+-----------------------------+----------+
247
+ | Index | Name | Shape |
248
+ +----------+-----------------------------+----------+
249
+ | 0 | grasp_smallbox_0 | () |
250
+ | 1 | smallbox_0_placed | () |
251
+ | 2 | grasp_smallbox_1 | () |
252
+ | 3 | smallbox_1_placed | () |
253
+ | 4 | grasp_smallbox_2 | () |
254
+ | 5 | smallbox_2_placed | () |
255
+ | 6 | grasp_smallbox_3 | () |
256
+ | 7 | smallbox_3_placed | () |
257
+ +----------+-----------------------------+----------+
258
+
259
+ [INFO] Termination Manager: <TerminationManager> contains 1 active terms.
260
+ +-----------------------------+
261
+ | Active Termination Terms |
262
+ +-------+----------+----------+
263
+ | Index | Name | Time Out |
264
+ +-------+----------+----------+
265
+ | 0 | time_out | True |
266
+ +-------+----------+----------+
267
+
268
+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
269
+ +-----------------------+
270
+ | Active Reward Terms |
271
+ +-------+------+--------+
272
+ | Index | Name | Weight |
273
+ +-------+------+--------+
274
+ +-------+------+--------+
275
+
276
+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
277
+ +----------------------+
278
+ | Active Curriculum Terms |
279
+ +-----------+----------+
280
+ | Index | Name |
281
+ +-----------+----------+
282
+ +-----------+----------+
283
+
284
+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:23 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:23 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:23 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:24 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:24 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:24 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:24 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:24 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:24 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:24 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:07 [gen] step 40: lag=34/41mm(med/max) ORI=0deg j2=17deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=379mm [----] smallbox_3->pocket=199mm
296
+ >> 08-11 18:53:40 [gen] step 80: lag=19/121mm(med/max) ORI=1deg j4=63deg(sat0.14) smallbox_3_tilt=1deg eef->smallbox_3=170mm [----] smallbox_3->pocket=199mm
297
+ >> 08-11 18:54:14 [gen] step 120: lag=4/57mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=85mm [----] smallbox_3->pocket=199mm
298
+ >> 08-11 18:54:49 [gen] step 160: lag=7/43mm(med/max) ORI=1deg j4=66deg(sat0.12) smallbox_3_tilt=1deg eef->smallbox_3=24mm [----] smallbox_3->pocket=199mm
299
+ >> 08-11 18:55:23 [gen] step 200: lag=3/66mm(med/max) ORI=0deg j4=62deg(sat0.15) smallbox_3_tilt=1deg eef->smallbox_3=13mm [grip] smallbox_3->pocket=201mm
300
+ >> 08-11 18:55:57 [gen] step 240: lag=3/46mm(med/max) ORI=0deg j4=62deg(sat0.15) smallbox_3_tilt=1deg eef->smallbox_3=13mm [grip] smallbox_3->pocket=201mm
301
+ >> 08-11 18:56:31 [gen] step 280: lag=4/32mm(med/max) ORI=0deg j4=62deg(sat0.15) smallbox_3_tilt=1deg eef->smallbox_3=13mm [grip] smallbox_3->pocket=202mm
302
+ >> 08-11 18:57:12 [gen] step 320: lag=13/62mm(med/max) ORI=0deg j4=88deg(sat0.00) smallbox_3_tilt=1deg eef->smallbox_3=13mm [grip] smallbox_3->pocket=228mm
303
+ >> 08-11 18:57:48 [gen] step 360: lag=12/57mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_3_tilt=7deg eef->smallbox_3=13mm [grip] smallbox_3->pocket=136mm
304
+ >> 08-11 18:58:21 [gen] step 400: lag=2/53mm(med/max) ORI=0deg j4=82deg(sat0.04) smallbox_3_tilt=7deg eef->smallbox_3=13mm [grip] smallbox_3->pocket=136mm
305
+ >> 08-11 18:58:59 [gen] step 440: lag=6/19mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_3_tilt=42deg eef->smallbox_3=4mm [----] smallbox_3->pocket=66mm
306
+ >> 08-11 18:59:33 [gen] step 480: lag=1/22mm(med/max) ORI=0deg j4=77deg(sat0.06) smallbox_3_tilt=27deg eef->smallbox_3=64mm [----] smallbox_3->pocket=61mm
307
+ >> 08-11 19:00:14 [gen] step 520: lag=2/21mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_3_tilt=26deg eef->smallbox_3=60mm [----] smallbox_3->pocket=60mm
308
+ >> 08-11 19:00:48 [gen] step 560: lag=0/27mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_3_tilt=24deg eef->smallbox_3=59mm [----] smallbox_3->pocket=58mm
309
+ >> 08-11 19:01:24 [gen] step 600: lag=2/37mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_3_tilt=17deg eef->smallbox_3=38mm [grip] smallbox_3->pocket=54mm
310
+ >> 08-11 19:01:58 [gen] step 640: lag=7/22mm(med/max) ORI=1deg j4=69deg(sat0.11) smallbox_3_tilt=9deg eef->smallbox_3=17mm [grip] smallbox_3->pocket=53mm
311
+ >> 08-11 19:02:33 [gen] step 680: lag=0/23mm(med/max) ORI=0deg j4=75deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=28mm [grip] smallbox_3->pocket=51mm
312
+ >> 08-11 19:02:35 [wpgen/press] push_seat_3: peak press force N all med=1.19 max=31.38 CONTACT n=299/512 med=5.08 p90=22.17 max=31.38 (gate 1.50 <= f <= 20.00)
313
+ >> 08-11 19:04:53 [wpgen/progress] batch 1 (cube b3): 102/512 kept running 102/400 (512 rollouts)
314
+ >> 08-11 19:04:58 [gen] step 720: lag=90/90mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=394mm [----] smallbox_0->pocket=250mm
315
+ >> 08-11 19:05:36 [gen] step 760: lag=63/79mm(med/max) ORI=1deg j2=21deg(sat0.12) smallbox_0_tilt=1deg eef->smallbox_0=410mm [----] smallbox_0->pocket=250mm
316
+ >> 08-11 19:06:09 [gen] step 800: lag=20/106mm(med/max) ORI=1deg j3=-52deg(sat0.31) smallbox_0_tilt=1deg eef->smallbox_0=228mm [----] smallbox_0->pocket=250mm
317
+ >> 08-11 19:06:42 [gen] step 840: lag=0/42mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_0_tilt=1deg eef->smallbox_0=112mm [----] smallbox_0->pocket=250mm
318
+ >> 08-11 19:07:17 [gen] step 880: lag=6/52mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_0_tilt=1deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=257mm
319
+ >> 08-11 19:07:52 [gen] step 920: lag=3/58mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_0_tilt=1deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=256mm
320
+ >> 08-11 19:08:27 [gen] step 960: lag=3/34mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_0_tilt=1deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=256mm
321
+ >> 08-11 19:09:02 [gen] step 1000: lag=3/34mm(med/max) ORI=0deg j4=63deg(sat0.14) smallbox_0_tilt=1deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=256mm
322
+ >> 08-11 19:09:43 [gen] step 1040: lag=13/34mm(med/max) ORI=0deg j4=87deg(sat0.00) smallbox_0_tilt=1deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=237mm
323
+ >> 08-11 19:10:19 [gen] step 1080: lag=10/67mm(med/max) ORI=1deg j4=73deg(sat0.09) smallbox_0_tilt=4deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=89mm
324
+ >> 08-11 19:10:52 [gen] step 1120: lag=2/55mm(med/max) ORI=0deg j4=56deg(sat0.18) smallbox_0_tilt=8deg eef->smallbox_0=10mm [grip] smallbox_0->pocket=45mm
325
+ >> 08-11 19:11:30 [gen] step 1160: lag=4/32mm(med/max) ORI=1deg j4=76deg(sat0.07) smallbox_2_tilt=1deg eef->smallbox_2=7mm [----] smallbox_2->pocket=49mm
326
+ >> 08-11 19:12:10 [gen] step 1200: lag=5/24mm(med/max) ORI=0deg j4=80deg(sat0.04) smallbox_2_tilt=1deg eef->smallbox_2=12mm [----] smallbox_2->pocket=49mm
327
+ >> 08-11 19:12:44 [gen] step 1240: lag=2/26mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_0_tilt=2deg eef->smallbox_0=8mm [----] smallbox_0->pocket=49mm
328
+ >> 08-11 19:13:20 [gen] step 1280: lag=8/33mm(med/max) ORI=1deg j4=84deg(sat0.02) smallbox_0_tilt=2deg eef->smallbox_0=6mm [----] smallbox_0->pocket=49mm
329
+ >> 08-11 19:13:54 [gen] step 1320: lag=2/40mm(med/max) ORI=0deg j4=85deg(sat0.02) smallbox_0_tilt=2deg eef->smallbox_0=30mm [grip] smallbox_0->pocket=49mm
330
+ >> 08-11 19:14:28 [gen] step 1360: lag=3/28mm(med/max) ORI=0deg j4=81deg(sat0.04) smallbox_0_tilt=2deg eef->smallbox_0=17mm [grip] smallbox_0->pocket=49mm
331
+ >> 08-11 19:14:53 [wpgen/press] push_seat_0: peak press force N all med=1.60 max=40.30 CONTACT n=317/512 med=5.75 p90=21.24 max=40.30 (gate 1.50 <= f <= 20.00)
332
+ >> 08-11 19:15:04 [gen] step 1400: lag=3/28mm(med/max) ORI=0deg j4=81deg(sat0.04) smallbox_0_tilt=2deg eef->smallbox_0=17mm [grip] smallbox_0->pocket=49mm
333
+ >> 08-11 19:17:40 [wpgen/progress] batch 2 (cube b0): 137/512 kept running 239/400 (1024 rollouts)
334
+ >> 08-11 19:17:58 [gen] step 1440: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=363mm [----] smallbox_0->pocket=187mm
335
+ >> 08-11 19:18:37 [gen] step 1480: lag=78/140mm(med/max) ORI=1deg j2=37deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=376mm [----] smallbox_0->pocket=187mm
336
+ >> 08-11 19:19:09 [gen] step 1520: lag=24/58mm(med/max) ORI=1deg j4=46deg(sat0.24) smallbox_2_tilt=1deg eef->smallbox_2=94mm [----] smallbox_2->pocket=189mm
337
+ >> 08-11 19:19:45 [gen] step 1560: lag=8/25mm(med/max) ORI=1deg j4=66deg(sat0.12) smallbox_2_tilt=1deg eef->smallbox_2=11mm [----] smallbox_2->pocket=189mm
338
+ >> 08-11 19:20:20 [gen] step 1600: lag=3/87mm(med/max) ORI=0deg j4=54deg(sat0.19) smallbox_2_tilt=1deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=223mm
339
+ >> 08-11 19:20:55 [gen] step 1640: lag=3/75mm(med/max) ORI=0deg j4=54deg(sat0.19) smallbox_2_tilt=1deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=223mm
340
+ >> 08-11 19:21:30 [gen] step 1680: lag=3/75mm(med/max) ORI=0deg j4=54deg(sat0.19) smallbox_2_tilt=1deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=223mm
341
+ >> 08-11 19:22:11 [gen] step 1720: lag=13/85mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_2_tilt=2deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=229mm
342
+ >> 08-11 19:22:47 [gen] step 1760: lag=13/76mm(med/max) ORI=0deg j4=75deg(sat0.07) smallbox_2_tilt=1deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=155mm
343
+ >> 08-11 19:23:24 [gen] step 1800: lag=3/76mm(med/max) ORI=0deg j4=73deg(sat0.09) smallbox_2_tilt=11deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=148mm
344
+ >> 08-11 19:24:01 [gen] step 1840: lag=6/75mm(med/max) ORI=0deg j4=68deg(sat0.11) smallbox_2_tilt=12deg eef->smallbox_2=27mm [grip] smallbox_2->pocket=89mm
345
+ >> 08-11 19:24:35 [gen] step 1880: lag=7/75mm(med/max) ORI=0deg j4=71deg(sat0.10) smallbox_2_tilt=45deg eef->smallbox_2=37mm [grip] smallbox_2->pocket=40mm
346
+ >> 08-11 19:25:19 [gen] step 1920: lag=8/75mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_2_tilt=42deg eef->smallbox_2=70mm [----] smallbox_2->pocket=40mm
347
+ >> 08-11 19:25:53 [gen] step 1960: lag=0/75mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=40deg eef->smallbox_2=45mm [grip] smallbox_2->pocket=40mm
348
+ >> 08-11 19:26:30 [gen] step 2000: lag=2/75mm(med/max) ORI=0deg j4=75deg(sat0.07) smallbox_2_tilt=1deg eef->smallbox_2=30mm [grip] smallbox_2->pocket=43mm
349
+ >> 08-11 19:27:09 [gen] step 2040: lag=6/75mm(med/max) ORI=0deg j4=78deg(sat0.06) smallbox_2_tilt=1deg eef->smallbox_2=44mm [grip] smallbox_2->pocket=43mm
350
+ >> 08-11 19:27:44 [gen] step 2080: lag=0/75mm(med/max) ORI=0deg j4=78deg(sat0.06) smallbox_2_tilt=1deg eef->smallbox_2=44mm [grip] smallbox_2->pocket=43mm
351
+ >> 08-11 19:27:46 [wpgen/press] push_seat_2: peak press force N all med=0.99 max=53.85 CONTACT n=300/512 med=4.98 p90=21.11 max=53.85 (gate 1.50 <= f <= 20.00)
352
+ >> 08-11 19:30:51 [wpgen/progress] batch 3 (cube b2): 122/512 kept running 361/400 (1536 rollouts)
353
+ >> 08-11 19:30:57 [gen] step 2120: lag=90/90mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=364mm [----] smallbox_3->pocket=305mm
354
+ >> 08-11 19:31:36 [gen] step 2160: lag=63/79mm(med/max) ORI=1deg j2=18deg(sat0.10) smallbox_3_tilt=1deg eef->smallbox_3=384mm [----] smallbox_3->pocket=305mm
355
+ >> 08-11 19:32:10 [gen] step 2200: lag=20/112mm(med/max) ORI=1deg j5=39deg(sat0.28) smallbox_1_tilt=1deg eef->smallbox_1=262mm [----] smallbox_1->pocket=154mm
356
+ >> 08-11 19:32:44 [gen] step 2240: lag=0/44mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_1_tilt=1deg eef->smallbox_1=65mm [----] smallbox_1->pocket=154mm
357
+ >> 08-11 19:33:20 [gen] step 2280: lag=7/95mm(med/max) ORI=1deg j4=67deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=154mm
358
+ >> 08-11 19:33:54 [gen] step 2320: lag=3/62mm(med/max) ORI=1deg j4=67deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=154mm
359
+ >> 08-11 19:34:29 [gen] step 2360: lag=3/62mm(med/max) ORI=1deg j4=67deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=154mm
360
+ >> 08-11 19:35:04 [gen] step 2400: lag=3/62mm(med/max) ORI=1deg j4=67deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=154mm
361
+ >> 08-11 19:35:45 [gen] step 2440: lag=14/62mm(med/max) ORI=0deg j4=88deg(sat-0.00) smallbox_1_tilt=1deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=165mm
362
+ >> 08-11 19:36:20 [gen] step 2480: lag=11/62mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_1_tilt=8deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=70mm
363
+ >> 08-11 19:36:55 [gen] step 2520: lag=2/62mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_1_tilt=8deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=69mm
364
+ >> 08-11 19:37:31 [gen] step 2560: lag=3/62mm(med/max) ORI=0deg j4=81deg(sat0.04) smallbox_1_tilt=1deg eef->smallbox_1=40mm [grip] smallbox_1->pocket=53mm
365
+ >> 08-11 19:38:10 [gen] step 2600: lag=10/62mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_1_tilt=1deg eef->smallbox_1=51mm [----] smallbox_1->pocket=53mm
366
+ >> 08-11 19:38:45 [gen] step 2640: lag=1/62mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_1_tilt=1deg eef->smallbox_1=23mm [grip] smallbox_1->pocket=53mm
367
+ >> 08-11 19:39:19 [gen] step 2680: lag=3/62mm(med/max) ORI=2deg j4=75deg(sat0.07) smallbox_1_tilt=2deg eef->smallbox_1=30mm [grip] smallbox_1->pocket=52mm
368
+ >> 08-11 19:39:53 [gen] step 2720: lag=6/62mm(med/max) ORI=0deg j4=80deg(sat0.04) smallbox_1_tilt=1deg eef->smallbox_1=97mm [----] smallbox_1->pocket=51mm
369
+ >> 08-11 19:40:26 [gen] step 2760: lag=0/62mm(med/max) ORI=0deg j4=83deg(sat0.03) smallbox_2_tilt=1deg eef->smallbox_2=171mm [----] smallbox_2->pocket=180mm
370
+ >> 08-11 19:40:35 [wpgen/press] push_seat_1: peak press force N all med=1.07 max=160.52 CONTACT n=286/512 med=5.61 p90=20.56 max=160.52 (gate 1.50 <= f <= 20.00)
371
+ >> 08-11 19:43:41 [wpgen/progress] batch 4 (cube b1): 113/512 kept running 474/400 (2048 rollouts)
372
+ >> 08-11 19:43:41 [wpgen/done] DONE (batched chunks): 474/400 kept in 2048 rollouts (4 batches of 512). success 474 | fail@[push_seat_3 202, place_smallbox_3 185, grasp_smallbox_3 15, motion:right_arm:j5_pos 27, not_seated 1, push_seat_0 195, grasp_smallbox_0 30, place_smallbox_0 142, push_seat_2 187, grasp_smallbox_2 42, place_smallbox_2 159, push_seat_1 181, place_smallbox_1 200, grasp_smallbox_1 8] (fail rate 1574/2048 = 77%)
373
+ >> 08-11 19:43:41 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
374
+ >> 08-11 19:43:41 [wpgen/done] b0->s0: 32 [ 128, 25%] b0->s1: 28 [ 128, 22%] b0->s2: 32 [ 128, 25%] b0->s3: 45 [ 128, 35%] | b0 total 137
375
+ >> 08-11 19:43:41 [wpgen/done] b1->s0: 21 [ 128, 16%] b1->s1: 21 [ 128, 16%] b1->s2: 27 [ 128, 21%] b1->s3: 44 [ 128, 34%] | b1 total 113
376
+ >> 08-11 19:43:41 [wpgen/done] b2->s0: 28 [ 128, 22%] b2->s1: 28 [ 128, 22%] b2->s2: 27 [ 128, 21%] b2->s3: 39 [ 128, 30%] | b2 total 122
377
+ >> 08-11 19:43:41 [wpgen/done] b3->s0: 24 [ 128, 19%] b3->s1: 21 [ 128, 16%] b3->s2: 26 [ 128, 20%] b3->s3: 31 [ 128, 24%] | b3 total 102
378
+ >> 08-11 19:43:41 [wpgen/done] per-slot totals: s0= 105 s1= 98 s2= 112 s3= 159
379
+ >> 08-11 19:43:41 [wpgen/done] balance: min 21, max 45 per pair (2.1x spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
380
+ | | | | 2901 | 486360fa.. |
381
+ | | | | | | 8d | |
382
+ |---------------------------------------------------------------------------------------------|
383
+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
384
+ | | | | | | 2901 | 88cabb84.. |
385
+ | | | | | | 95 | |
386
+ |=============================================================================================|
387
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
388
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
389
+ | Cores: 104 | Logical Cores: 208
390
+ |---------------------------------------------------------------------------------------------|
391
+ | Total Memory (MB): 2922999 | Free Memory: 2684948
392
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
393
+ |---------------------------------------------------------------------------------------------|
394
+ 2026-08-11T18:52:13Z [25,402ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 5
395
+ 2026-08-11T18:52:14Z [25,831ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
396
+ 2026-08-11T18:52:14Z [25,831ms] [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)
397
+ 2026-08-11T18:52:14Z [25,857ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
398
+ 2026-08-11T18:52:14Z [25,857ms] [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)
399
+ 2026-08-11T18:52:14Z [25,868ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
400
+ 2026-08-11T18:52:14Z [25,868ms] [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)
401
+ 2026-08-11T18:52:14Z [25,876ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
402
+ 2026-08-11T18:52:14Z [25,876ms] [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)
403
+ 2026-08-11T18:52:14Z [25,878ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
404
+ 2026-08-11T18:52:14Z [25,878ms] [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)
405
+ 2026-08-11T18:52:14Z [25,879ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
406
+ 2026-08-11T18:52:14Z [25,879ms] [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)
407
+ 2026-08-11T18:52:14Z [26,415ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
408
+ 2026-08-11T18:52:15Z [26,630ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
small_boxes/0720_3/gen/gpu5_failed.hdf5 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ size 952924858
small_boxes/0720_3/gen/gpu6.hdf5 ADDED
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+ 
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+ 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'
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+ [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_185148.log
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+ 2026-08-11T18:51:48Z [83ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
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+ 2026-08-11T18:51:48Z [356ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
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+ 2026-08-11T18:51:48Z [468ms] [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.
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+ 2026-08-11T18:51:48Z [478ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-08-11T18:51:58Z [9,884ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
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+ 2026-08-11T18:51:58Z [9,884ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
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+ 2026-08-11T18:51:58Z [9,884ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
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+ 2026-08-11T18:52:02Z [14,365ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,365ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,371ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,371ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,376ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,376ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,382ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,382ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,388ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,388ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,397ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,397ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [14,399ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 486360fa.. |
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
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+ [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.
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+ [INFO][AppLauncher]: Using device: cuda
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+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
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+ >> 08-11 18:52:04 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
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+ >> 08-11 18:52:04 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
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+ >> 08-11 18:52:04 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
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+ >> 08-11 18:52:04 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
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+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 88cabb84.. |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
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+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
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+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
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+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
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+ | Total Memory (MB): 2922999 | Free Memory: 2693073
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+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-08-11T18:52:04Z [16,040ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 6
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+ 2026-08-11T18:52:04Z [16,115ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
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+ 2026-08-11T18:52:08Z [20,068ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:08Z [20,068ms] [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)
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+ 2026-08-11T18:52:08Z [20,201ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,201ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,202ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,202ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,203ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,203ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,204ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,204ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,205ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,205ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,206ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,206ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:08Z [20,209ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ |---------------------------------------------------------------------------------------------|
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+ | Driver Version: 580.126.20 | Graphics API: Vulkan
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+ |=============================================================================================|
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+ | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
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+ | | | | | | Device-ID | UUID |
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+ | 0 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 63 | |
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+ | 1 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | 2 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | f78282a5.. |
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+ |---------------------------------------------------------------------------------------------|
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 9e2706c3.. |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-10.log
164
+ ======================================================================================
165
+
166
+ 18:52:10 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
169
+ Environment seed : None
170
+ Physics step-size : 0.0020833333333333333
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+ Rendering step-size : 0.016666666666666666
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+ Environment step-size : 0.016666666666666666
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+ [INFO]: Time taken for scene creation : 5.346026 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
176
+ Environment spacing : 3.0
177
+ Source prim name : /World/envs/env_0
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+ Global prim paths : []
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+ Replicate physics : True
180
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 1.900559 seconds
182
+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
183
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184
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+ | 4 | record_post_step_processed_actions |
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+ | 5 | record_post_step_joint_commands |
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+ | 1 | right_gripper | 1 |
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+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
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+ | 7 | box_pose | (7,) |
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+ | 8 | smallbox_0_pose | (7,) |
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+ | 10 | smallbox_2_pose | (7,) |
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+ | 11 | smallbox_3_pose | (7,) |
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+ | 4 | grasp_smallbox_2 | () |
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+ | 5 | smallbox_2_placed | () |
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+ | 6 | grasp_smallbox_3 | () |
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+ | 7 | smallbox_3_placed | () |
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+
284
+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:18 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:18 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:19 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:19 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:19 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:19 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:19 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:19 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:19 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:19 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:02 [gen] step 40: lag=34/41mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_0_tilt=1deg eef->smallbox_0=386mm [----] smallbox_0->pocket=291mm
296
+ >> 08-11 18:53:34 [gen] step 80: lag=19/102mm(med/max) ORI=2deg j2=15deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=313mm [----] smallbox_0->pocket=291mm
297
+ >> 08-11 18:54:10 [gen] step 120: lag=2/53mm(med/max) ORI=0deg j4=87deg(sat0.01) smallbox_1_tilt=1deg eef->smallbox_1=150mm [----] smallbox_1->pocket=222mm
298
+ >> 08-11 18:54:45 [gen] step 160: lag=8/39mm(med/max) ORI=1deg j4=58deg(sat0.17) smallbox_0_tilt=1deg eef->smallbox_0=22mm [----] smallbox_0->pocket=291mm
299
+ >> 08-11 18:55:19 [gen] step 200: lag=3/52mm(med/max) ORI=1deg j4=54deg(sat0.19) smallbox_0_tilt=0deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=289mm
300
+ >> 08-11 18:55:53 [gen] step 240: lag=3/33mm(med/max) ORI=1deg j4=54deg(sat0.19) smallbox_0_tilt=0deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=289mm
301
+ >> 08-11 18:56:28 [gen] step 280: lag=4/34mm(med/max) ORI=1deg j4=54deg(sat0.19) smallbox_0_tilt=0deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=289mm
302
+ >> 08-11 18:57:07 [gen] step 320: lag=12/29mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_0_tilt=1deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=293mm
303
+ >> 08-11 18:57:40 [gen] step 360: lag=10/54mm(med/max) ORI=0deg j4=88deg(sat0.00) smallbox_0_tilt=1deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=123mm
304
+ >> 08-11 18:58:14 [gen] step 400: lag=2/47mm(med/max) ORI=1deg j4=83deg(sat0.03) smallbox_0_tilt=5deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=67mm
305
+ >> 08-11 18:58:52 [gen] step 440: lag=6/22mm(med/max) ORI=1deg j4=79deg(sat0.05) smallbox_0_tilt=0deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=44mm
306
+ >> 08-11 18:59:26 [gen] step 480: lag=2/21mm(med/max) ORI=1deg j4=73deg(sat0.09) smallbox_0_tilt=2deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=35mm
307
+ >> 08-11 19:00:07 [gen] step 520: lag=4/33mm(med/max) ORI=0deg j4=87deg(sat0.01) smallbox_0_tilt=1deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=94mm
308
+ >> 08-11 19:00:40 [gen] step 560: lag=0/21mm(med/max) ORI=3deg j4=69deg(sat0.11) smallbox_0_tilt=3deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=33mm
309
+ >> 08-11 19:01:15 [gen] step 600: lag=2/21mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_0_tilt=3deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=35mm
310
+ >> 08-11 19:01:49 [gen] step 640: lag=5/29mm(med/max) ORI=0deg j4=81deg(sat0.04) smallbox_0_tilt=3deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=57mm
311
+ >> 08-11 19:02:26 [gen] step 680: lag=0/29mm(med/max) ORI=0deg j4=85deg(sat0.01) smallbox_0_tilt=2deg eef->smallbox_0=19mm [grip] smallbox_0->pocket=114mm
312
+ >> 08-11 19:02:28 [wpgen/press] push_seat_0: peak press force N all med=0.98 max=31.84 CONTACT n=302/512 med=5.86 p90=21.23 max=31.84 (gate 1.50 <= f <= 20.00)
313
+ >> 08-11 19:04:50 [wpgen/progress] batch 1 (cube b0): 124/512 kept running 124/400 (512 rollouts)
314
+ >> 08-11 19:04:55 [gen] step 720: lag=90/90mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_1_tilt=1deg eef->smallbox_1=365mm [----] smallbox_1->pocket=212mm
315
+ >> 08-11 19:05:32 [gen] step 760: lag=63/79mm(med/max) ORI=1deg j2=19deg(sat0.11) smallbox_1_tilt=1deg eef->smallbox_1=367mm [----] smallbox_1->pocket=212mm
316
+ >> 08-11 19:06:04 [gen] step 800: lag=20/107mm(med/max) ORI=1deg j4=65deg(sat0.13) smallbox_1_tilt=1deg eef->smallbox_1=166mm [----] smallbox_1->pocket=212mm
317
+ >> 08-11 19:06:38 [gen] step 840: lag=0/69mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_1_tilt=1deg eef->smallbox_1=116mm [----] smallbox_1->pocket=212mm
318
+ >> 08-11 19:07:13 [gen] step 880: lag=6/96mm(med/max) ORI=0deg j4=61deg(sat0.15) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=211mm
319
+ >> 08-11 19:07:48 [gen] step 920: lag=3/81mm(med/max) ORI=0deg j4=61deg(sat0.15) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=212mm
320
+ >> 08-11 19:08:22 [gen] step 960: lag=3/81mm(med/max) ORI=0deg j4=61deg(sat0.15) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=212mm
321
+ >> 08-11 19:08:56 [gen] step 1000: lag=3/81mm(med/max) ORI=0deg j4=62deg(sat0.15) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=216mm
322
+ >> 08-11 19:09:37 [gen] step 1040: lag=14/80mm(med/max) ORI=0deg j4=86deg(sat0.01) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=198mm
323
+ >> 08-11 19:10:11 [gen] step 1080: lag=9/80mm(med/max) ORI=0deg j4=65deg(sat0.13) smallbox_1_tilt=8deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=101mm
324
+ >> 08-11 19:10:44 [gen] step 1120: lag=2/81mm(med/max) ORI=0deg j4=64deg(sat0.13) smallbox_1_tilt=8deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=101mm
325
+ >> 08-11 19:11:21 [gen] step 1160: lag=5/81mm(med/max) ORI=0deg j4=66deg(sat0.13) smallbox_1_tilt=50deg eef->smallbox_1=11mm [----] smallbox_1->pocket=58mm
326
+ >> 08-11 19:11:54 [gen] step 1200: lag=1/81mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_1_tilt=1deg eef->smallbox_1=101mm [----] smallbox_1->pocket=50mm
327
+ >> 08-11 19:12:32 [gen] step 1240: lag=3/81mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=75mm [----] smallbox_1->pocket=49mm
328
+ >> 08-11 19:13:09 [gen] step 1280: lag=7/81mm(med/max) ORI=1deg j4=70deg(sat0.10) smallbox_1_tilt=1deg eef->smallbox_1=74mm [----] smallbox_1->pocket=49mm
329
+ >> 08-11 19:13:42 [gen] step 1320: lag=2/81mm(med/max) ORI=0deg j4=60deg(sat0.16) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=49mm
330
+ >> 08-11 19:14:15 [gen] step 1360: lag=2/81mm(med/max) ORI=2deg j4=52deg(sat0.20) smallbox_1_tilt=1deg eef->smallbox_1=17mm [grip] smallbox_1->pocket=48mm
331
+ >> 08-11 19:14:40 [wpgen/press] push_seat_1: peak press force N all med=1.23 max=76.04 CONTACT n=312/512 med=5.22 p90=21.11 max=76.04 (gate 1.50 <= f <= 20.00)
332
+ >> 08-11 19:14:51 [gen] step 1400: lag=2/80mm(med/max) ORI=4deg j4=51deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=6mm [----] smallbox_1->pocket=49mm
333
+ >> 08-11 19:17:26 [wpgen/progress] batch 2 (cube b1): 130/512 kept running 254/400 (1024 rollouts)
334
+ >> 08-11 19:17:44 [gen] step 1440: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_0_tilt=1deg eef->smallbox_0=366mm [----] smallbox_0->pocket=209mm
335
+ >> 08-11 19:18:23 [gen] step 1480: lag=87/151mm(med/max) ORI=1deg j2=38deg(sat0.21) smallbox_0_tilt=1deg eef->smallbox_0=372mm [----] smallbox_0->pocket=209mm
336
+ >> 08-11 19:18:55 [gen] step 1520: lag=23/67mm(med/max) ORI=1deg j4=57deg(sat0.18) smallbox_0_tilt=1deg eef->smallbox_0=105mm [----] smallbox_0->pocket=209mm
337
+ >> 08-11 19:19:30 [gen] step 1560: lag=9/28mm(med/max) ORI=1deg j4=73deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=30mm [----] smallbox_3->pocket=266mm
338
+ >> 08-11 19:20:04 [gen] step 1600: lag=3/88mm(med/max) ORI=1deg j4=66deg(sat0.12) smallbox_3_tilt=0deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=271mm
339
+ >> 08-11 19:20:39 [gen] step 1640: lag=3/87mm(med/max) ORI=1deg j4=66deg(sat0.12) smallbox_3_tilt=0deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=271mm
340
+ >> 08-11 19:21:13 [gen] step 1680: lag=3/88mm(med/max) ORI=1deg j4=66deg(sat0.12) smallbox_3_tilt=0deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=271mm
341
+ >> 08-11 19:21:55 [gen] step 1720: lag=13/79mm(med/max) ORI=0deg j4=73deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=271mm
342
+ >> 08-11 19:22:28 [gen] step 1760: lag=14/79mm(med/max) ORI=0deg j4=85deg(sat0.02) smallbox_3_tilt=1deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=191mm
343
+ >> 08-11 19:23:03 [gen] step 1800: lag=4/91mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_3_tilt=7deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=76mm
344
+ >> 08-11 19:23:37 [gen] step 1840: lag=2/279mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_3_tilt=7deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=75mm
345
+ >> 08-11 19:24:11 [gen] step 1880: lag=2/507mm(med/max) ORI=0deg j4=74deg(sat0.08) smallbox_3_tilt=7deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=75mm
346
+ >> 08-11 19:24:46 [gen] step 1920: lag=6/478mm(med/max) ORI=1deg j4=73deg(sat0.08) smallbox_3_tilt=8deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=73mm
347
+ >> 08-11 19:25:20 [gen] step 1960: lag=3/463mm(med/max) ORI=0deg j4=75deg(sat0.07) smallbox_3_tilt=1deg eef->smallbox_3=40mm [grip] smallbox_3->pocket=52mm
348
+ >> 08-11 19:26:01 [gen] step 2000: lag=10/463mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_3_tilt=1deg eef->smallbox_3=60mm [----] smallbox_3->pocket=52mm
349
+ >> 08-11 19:26:35 [gen] step 2040: lag=1/463mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=23mm [grip] smallbox_3->pocket=52mm
350
+ >> 08-11 19:27:10 [gen] step 2080: lag=2/463mm(med/max) ORI=2deg j4=67deg(sat0.12) smallbox_3_tilt=5deg eef->smallbox_3=30mm [grip] smallbox_3->pocket=52mm
351
+ >> 08-11 19:27:46 [gen] step 2120: lag=5/463mm(med/max) ORI=0deg j4=78deg(sat0.06) smallbox_3_tilt=1deg eef->smallbox_3=122mm [----] smallbox_3->pocket=49mm
352
+ >> 08-11 19:28:22 [gen] step 2160: lag=0/463mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_3_tilt=1deg eef->smallbox_3=173mm [----] smallbox_3->pocket=49mm
353
+ >> 08-11 19:28:23 [wpgen/press] push_seat_3: peak press force N all med=0.83 max=31.91 CONTACT n=296/512 med=4.71 p90=17.85 max=31.91 (gate 1.50 <= f <= 20.00)
354
+ >> 08-11 19:31:58 [wpgen/progress] batch 3 (cube b3): 106/512 kept running 360/400 (1536 rollouts)
355
+ >> 08-11 19:32:04 [gen] step 2200: lag=90/90mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_2_tilt=1deg eef->smallbox_2=369mm [----] smallbox_2->pocket=286mm
356
+ >> 08-11 19:32:42 [gen] step 2240: lag=67/84mm(med/max) ORI=1deg j2=16deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=393mm [----] smallbox_2->pocket=286mm
357
+ >> 08-11 19:33:16 [gen] step 2280: lag=20/130mm(med/max) ORI=2deg j4=82deg(sat0.04) smallbox_2_tilt=1deg eef->smallbox_2=242mm [----] smallbox_2->pocket=286mm
358
+ >> 08-11 19:33:49 [gen] step 2320: lag=0/52mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_2_tilt=1deg eef->smallbox_2=148mm [----] smallbox_2->pocket=286mm
359
+ >> 08-11 19:34:24 [gen] step 2360: lag=6/55mm(med/max) ORI=0deg j4=55deg(sat0.19) smallbox_2_tilt=1deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=286mm
360
+ >> 08-11 19:35:00 [gen] step 2400: lag=3/64mm(med/max) ORI=0deg j4=54deg(sat0.19) smallbox_2_tilt=1deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=284mm
361
+ >> 08-11 19:35:34 [gen] step 2440: lag=3/45mm(med/max) ORI=1deg j4=54deg(sat0.19) smallbox_2_tilt=0deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=284mm
362
+ >> 08-11 19:36:10 [gen] step 2480: lag=4/69mm(med/max) ORI=1deg j4=54deg(sat0.19) smallbox_2_tilt=1deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=284mm
363
+ >> 08-11 19:36:53 [gen] step 2520: lag=13/65mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_2_tilt=1deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=267mm
364
+ >> 08-11 19:37:27 [gen] step 2560: lag=11/132mm(med/max) ORI=2deg j4=88deg(sat-0.00) smallbox_2_tilt=2deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=118mm
365
+ >> 08-11 19:38:02 [gen] step 2600: lag=2/358mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=54mm
366
+ >> 08-11 19:38:36 [gen] step 2640: lag=2/586mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=53mm
367
+ >> 08-11 19:39:09 [gen] step 2680: lag=2/810mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=53mm
368
+ >> 08-11 19:39:44 [gen] step 2720: lag=2/1028mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=53mm
369
+ >> 08-11 19:40:17 [gen] step 2760: lag=2/1064mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=53mm
370
+ >> 08-11 19:40:51 [gen] step 2800: lag=2/1062mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=53mm
371
+ >> 08-11 19:41:26 [gen] step 2840: lag=2/1130mm(med/max) ORI=0deg j4=76deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=53mm
372
+ >> 08-11 19:42:03 [gen] step 2880: lag=8/1274mm(med/max) ORI=1deg j4=75deg(sat0.07) smallbox_2_tilt=5deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=42mm
373
+ >> 08-11 19:42:36 [gen] step 2920: lag=3/1283mm(med/max) ORI=1deg j4=73deg(sat0.08) smallbox_1_tilt=1deg eef->smallbox_1=14mm [grip] smallbox_1->pocket=42mm
374
+ >> 08-11 19:43:15 [gen] step 2960: lag=11/1283mm(med/max) ORI=0deg j4=82deg(sat0.03) smallbox_2_tilt=1deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=73mm
375
+ >> 08-11 19:43:56 [gen] step 3000: lag=7/1283mm(med/max) ORI=3deg j4=73deg(sat0.08) smallbox_2_tilt=1deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=37mm
376
+ >> 08-11 19:44:30 [gen] step 3040: lag=2/1283mm(med/max) ORI=0deg j4=85deg(sat0.02) smallbox_2_tilt=3deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=36mm
377
+ >> 08-11 19:45:04 [gen] step 3080: lag=2/1283mm(med/max) ORI=1deg j4=84deg(sat0.02) smallbox_2_tilt=2deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=80mm
378
+ >> 08-11 19:45:28 [wpgen/press] push_seat_2: peak press force N all med=1.49 max=59.76 CONTACT n=314/512 med=5.68 p90=20.78 max=59.76 (gate 1.50 <= f <= 20.00)
379
+ >> 08-11 19:45:38 [gen] step 3120: lag=2/1283mm(med/max) ORI=0deg j4=87deg(sat0.00) smallbox_2_tilt=2deg eef->smallbox_2=19mm [grip] smallbox_2->pocket=114mm
380
+ >> 08-11 19:50:17 [wpgen/progress] batch 4 (cube b2): 125/512 kept running 485/400 (2048 rollouts)
381
+ >> 08-11 19:50:17 [wpgen/done] DONE (batched chunks): 485/400 kept in 2048 rollouts (4 batches of 512). success 485 | fail@[push_seat_0 183, place_smallbox_0 157, grasp_smallbox_0 47, motion:right_arm:j5_pos 26, push_seat_1 198, place_smallbox_1 169, grasp_smallbox_1 7, motion:right_arm:j1_acc 1, place_smallbox_3 182, push_seat_3 193, grasp_smallbox_3 21, push_seat_2 176, place_smallbox_2 162, grasp_smallbox_2 41] (fail rate 1563/2048 = 76%)
382
+ >> 08-11 19:50:17 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
383
+ >> 08-11 19:50:17 [wpgen/done] b0->s0: 22 [ 128, 17%] b0->s1: 28 [ 128, 22%] b0->s2: 38 [ 128, 30%] b0->s3: 36 [ 128, 28%] | b0 total 124
384
+ >> 08-11 19:50:17 [wpgen/done] b1->s0: 29 [ 128, 23%] b1->s1: 33 [ 128, 26%] b1->s2: 33 [ 128, 26%] b1->s3: 35 [ 128, 27%] | b1 total 130
385
+ >> 08-11 19:50:17 [wpgen/done] b2->s0: 26 [ 128, 20%] b2->s1: 26 [ 128, 20%] b2->s2: 37 [ 128, 29%] b2->s3: 36 [ 128, 28%] | b2 total 125
386
+ >> 08-11 19:50:17 [wpgen/done] b3->s0: 26 [ 128, 20%] b3->s1: 29 [ 128, 23%] b3->s2: 24 [ 128, 19%] b3->s3: 27 [ 128, 21%] | b3 total 106
387
+ >> 08-11 19:50:17 [wpgen/done] per-slot totals: s0= 103 s1= 116 s2= 132 s3= 134
388
+ >> 08-11 19:50:17 [wpgen/done] balance: min 22, max 38 per pair (1.7x spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
389
+ | | | | 2901 | 486360fa.. |
390
+ | | | | | | 8d | |
391
+ |---------------------------------------------------------------------------------------------|
392
+ | 7 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
393
+ | | | | | | 2901 | 88cabb84.. |
394
+ | | | | | | 95 | |
395
+ |=============================================================================================|
396
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397
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
398
+ | Cores: 104 | Logical Cores: 208
399
+ |---------------------------------------------------------------------------------------------|
400
+ | Total Memory (MB): 2922999 | Free Memory: 2689759
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+ |---------------------------------------------------------------------------------------------|
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+ 2026-08-11T18:52:09Z [21,125ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 6
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+ 2026-08-11T18:52:09Z [21,517ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:09Z [21,517ms] [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)
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+ 2026-08-11T18:52:09Z [21,545ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:09Z [21,545ms] [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)
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+ 2026-08-11T18:52:09Z [21,555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:09Z [21,555ms] [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)
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+ 2026-08-11T18:52:09Z [21,564ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:09Z [21,564ms] [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)
412
+ 2026-08-11T18:52:09Z [21,566ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
413
+ 2026-08-11T18:52:09Z [21,566ms] [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)
414
+ 2026-08-11T18:52:09Z [21,567ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
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+ 2026-08-11T18:52:09Z [21,567ms] [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)
416
+ 2026-08-11T18:52:10Z [22,110ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
417
+ 2026-08-11T18:52:10Z [22,344ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
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1
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+ 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'
3
+ [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_185148.log
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+ 2026-08-11T18:51:48Z [92ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
5
+ 2026-08-11T18:51:48Z [372ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version.
6
+ 2026-08-11T18:51:48Z [483ms] [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.
7
+ 2026-08-11T18:51:48Z [493ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
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+ 2026-08-11T18:51:58Z [9,661ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
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+ 2026-08-11T18:51:58Z [9,661ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
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+ 2026-08-11T18:51:58Z [9,661ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
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+ 2026-08-11T18:52:01Z [13,591ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:01Z [13,591ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,594ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,594ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,595ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,595ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,601ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,601ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,604ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,604ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,608ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,608ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,614ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,614ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,615ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,615ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,616ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
33
+ 2026-08-11T18:52:02Z [13,616ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,616ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:02Z [13,616ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:02Z [13,616ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
37
+ 2026-08-11T18:52:02Z [13,616ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
38
+ 2026-08-11T18:52:02Z [13,616ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 79 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 4 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 74ba5e6f.. |
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+ | | | | | | 7f | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 5 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 6bb4bbd4.. |
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+ | | | | | | 87 | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 486360fa.. |
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+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
74
+ [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.
75
+ [INFO][AppLauncher]: Using device: cuda
76
+ [INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
77
+ >> 08-11 18:52:03 [wpgen/setup] seated-orientation gate ON (insert.conditions.small_boxes): |yaw of axis (1.0, 0.0, 0.0)|<=15deg, tilt[up]<=15deg
78
+ >> 08-11 18:52:03 [wpgen/setup] EXCLUDED 0 source demo(s) via mimic.exclude_takes (none matched); 6 remain
79
+ >> 08-11 18:52:03 [wpgen/setup] task=small_boxes (Isaac-InsertSmallBoxes-PiperX-IK-Abs-Mimic-v0) payloads=['insert_smallbox_0', 'insert_smallbox_1', 'insert_smallbox_2', 'insert_smallbox_3']
80
+ >> 08-11 18:52:03 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/small_boxes/0720_3/annotation.json source=demo_0 subtasks=['grasp_smallbox_0', 'place_smallbox_0', 'push_seat_0', 'grasp_smallbox_1', 'place_smallbox_1', 'push_seat_1', 'grasp_smallbox_2', 'place_smallbox_2', 'push_seat_2', 'grasp_smallbox_3', 'place_smallbox_3', 'push_seat_3']
81
+ | | 8d | |
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+ |---------------------------------------------------------------------------------------------|
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+ | 7 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
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+ | | | | | | 2901 | 88cabb84.. |
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+ | | | | | | 95 | |
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+ |=============================================================================================|
87
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
88
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
89
+ | Cores: 104 | Logical Cores: 208
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+ |---------------------------------------------------------------------------------------------|
91
+ | Total Memory (MB): 2922999 | Free Memory: 2693350
92
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
93
+ |---------------------------------------------------------------------------------------------|
94
+ 2026-08-11T18:52:03Z [14,984ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 7
95
+ 2026-08-11T18:52:04Z [15,913ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
96
+ 2026-08-11T18:52:04Z [15,913ms] [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)
97
+ 2026-08-11T18:52:04Z [16,124ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
98
+ 2026-08-11T18:52:04Z [16,124ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
99
+ 2026-08-11T18:52:04Z [16,125ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
100
+ 2026-08-11T18:52:04Z [16,125ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
101
+ 2026-08-11T18:52:04Z [16,127ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
102
+ 2026-08-11T18:52:04Z [16,127ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
103
+ 2026-08-11T18:52:04Z [16,130ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
104
+ 2026-08-11T18:52:04Z [16,130ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
105
+ 2026-08-11T18:52:04Z [16,134ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
106
+ 2026-08-11T18:52:04Z [16,134ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:04Z [16,134ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
108
+ 2026-08-11T18:52:04Z [16,134ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
109
+ 2026-08-11T18:52:04Z [16,138ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
110
+ 2026-08-11T18:52:04Z [16,138ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
111
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
112
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
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+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
115
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
116
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
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+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
118
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
119
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
120
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
121
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
122
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
123
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Skipping NVIDIA GPU due CUDA being in bad state: NVIDIA B200
124
+ 2026-08-11T18:52:04Z [16,144ms] [Warning] [gpu.foundation.plugin] Please restart your system if CUDA is known to work in your system.
125
+
126
+ |---------------------------------------------------------------------------------------------|
127
+ | Driver Version: 580.126.20 | Graphics API: Vulkan
128
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129
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130
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+ | 3 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
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+ | | | | | | 79 | |
148
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152
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+ | 6 | NVIDIA B200 | | | 183359 MB | 10de | 0 |
158
+ | | | | | | 2901 | 486360fa.. |
159
+ | | | |cat: '/sys/devices/system/cpu/cpu*/cpufreq/scaling_governor': No such file or directory
160
+ [INFO]: Parsing configuration from: nimble.brain.sim.mimic.smallbox_env_cfg:SmallBoxesMimicEnvCfg
161
+
162
+ ======================================================================================
163
+ [INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_18-52-06.log
164
+ ======================================================================================
165
+
166
+ 18:52:06 [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.
167
+ [INFO]: Base environment:
168
+ Environment device : cuda:0
169
+ Environment seed : None
170
+ Physics step-size : 0.0020833333333333333
171
+ Rendering step-size : 0.016666666666666666
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+ Environment step-size : 0.016666666666666666
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+ [INFO]: Time taken for scene creation : 5.442968 seconds
174
+ [INFO]: Scene manager: <class InteractiveScene>
175
+ Number of environments: 512
176
+ Environment spacing : 3.0
177
+ Source prim name : /World/envs/env_0
178
+ Global prim paths : []
179
+ Replicate physics : True
180
+ [INFO]: Starting the simulation. This may take a few seconds. Please wait...
181
+ [INFO]: Time taken for simulation start : 1.765847 seconds
182
+ [INFO] Command Manager: <CommandManager> contains 0 active terms.
183
+ +------------------------+
184
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185
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186
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187
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188
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189
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190
+ [INFO] Event Manager: <EventManager> contains 1 active terms.
191
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192
+ | Active Event Terms in Mode: 'reset' |
193
+ +----------+--------------------------+
194
+ | Index | Name |
195
+ +----------+--------------------------+
196
+ | 0 | randomize_layout |
197
+ | 1 | seat_brush |
198
+ | 2 | seat_bottles |
199
+ +----------+--------------------------+
200
+
201
+ [INFO] Recorder Manager: <RecorderManager> contains 6 active terms.
202
+ +--------------------------------------------------+
203
+ | Active Recorder Terms |
204
+ +-------+------------------------------------------+
205
+ | Index | Name |
206
+ +-------+------------------------------------------+
207
+ | 0 | record_initial_state |
208
+ | 1 | record_post_step_states |
209
+ | 2 | record_pre_step_actions |
210
+ | 3 | record_pre_step_flat_policy_observations |
211
+ | 4 | record_post_step_processed_actions |
212
+ | 5 | record_post_step_joint_commands |
213
+ +-------+------------------------------------------+
214
+
215
+ [INFO] Action Manager: <ActionManager> contains 2 active terms.
216
+ +-----------------------------------+
217
+ | Active Action Terms (shape: 8) |
218
+ +-------+---------------+-----------+
219
+ | Index | Name | Dimension |
220
+ +-------+---------------+-----------+
221
+ | 0 | right_arm | 7 |
222
+ | 1 | right_gripper | 1 |
223
+ +-------+---------------+-----------+
224
+
225
+ [INFO] Observation Manager: <ObservationManager> contains 2 groups.
226
+ +----------------------------------------------+
227
+ | Active Observation Terms in Group: 'policy' |
228
+ +----------+------------------------+----------+
229
+ | Index | Name | Shape |
230
+ +----------+------------------------+----------+
231
+ | 0 | actions | (8,) |
232
+ | 1 | left_eef_pos | (3,) |
233
+ | 2 | left_eef_quat | (4,) |
234
+ | 3 | right_eef_pos | (3,) |
235
+ | 4 | right_eef_quat | (4,) |
236
+ | 5 | left_gripper | (1,) |
237
+ | 6 | right_gripper | (1,) |
238
+ | 7 | box_pose | (7,) |
239
+ | 8 | smallbox_0_pose | (7,) |
240
+ | 9 | smallbox_1_pose | (7,) |
241
+ | 10 | smallbox_2_pose | (7,) |
242
+ | 11 | smallbox_3_pose | (7,) |
243
+ +----------+------------------------+----------+
244
+ +---------------------------------------------------+
245
+ | Active Observation Terms in Group: 'subtask_terms' |
246
+ +----------+-----------------------------+----------+
247
+ | Index | Name | Shape |
248
+ +----------+-----------------------------+----------+
249
+ | 0 | grasp_smallbox_0 | () |
250
+ | 1 | smallbox_0_placed | () |
251
+ | 2 | grasp_smallbox_1 | () |
252
+ | 3 | smallbox_1_placed | () |
253
+ | 4 | grasp_smallbox_2 | () |
254
+ | 5 | smallbox_2_placed | () |
255
+ | 6 | grasp_smallbox_3 | () |
256
+ | 7 | smallbox_3_placed | () |
257
+ +----------+-----------------------------+----------+
258
+
259
+ [INFO] Termination Manager: <TerminationManager> contains 1 active terms.
260
+ +-----------------------------+
261
+ | Active Termination Terms |
262
+ +-------+----------+----------+
263
+ | Index | Name | Time Out |
264
+ +-------+----------+----------+
265
+ | 0 | time_out | True |
266
+ +-------+----------+----------+
267
+
268
+ [INFO] Reward Manager: <RewardManager> contains 0 active terms.
269
+ +-----------------------+
270
+ | Active Reward Terms |
271
+ +-------+------+--------+
272
+ | Index | Name | Weight |
273
+ +-------+------+--------+
274
+ +-------+------+--------+
275
+
276
+ [INFO] Curriculum Manager: <CurriculumManager> contains 0 active terms.
277
+ +----------------------+
278
+ | Active Curriculum Terms |
279
+ +-----------+----------+
280
+ | Index | Name |
281
+ +-----------+----------+
282
+ +-----------+----------+
283
+
284
+ [INFO]: Completed setting up the environment...
285
+ >> 08-11 18:52:14 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
286
+ >> 08-11 18:52:14 [env] widened J4 limit to +-88deg
287
+ >> 08-11 18:52:15 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
288
+ >> 08-11 18:52:15 [wpgen/chunk] catalogue dropped 5 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_0/b2 tilt, demo_3/b0 tilt, demo_4/b2 yaw, demo_5/b0 tilt, demo_5/b3 tilt
289
+ >> 08-11 18:52:15 [wpgen/chunk] CHUNK mode: 11 usable source chunks; native target slot s0:1, s1:4, s2:2, s3:4
290
+ >> 08-11 18:52:15 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 1), (1, 1), (1, 3), (2, 0), (2, 3), (3, 2)])
291
+ >> 08-11 18:52:15 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
292
+ >> 08-11 18:52:15 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 11 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2, 3])
293
+ >> 08-11 18:52:15 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_smallbox_0=48mm, insert_smallbox_1=79mm, insert_smallbox_2=43mm, insert_smallbox_3=50mm
294
+ >> 08-11 18:52:15 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
295
+ >> 08-11 18:53:02 [gen] step 40: lag=34/41mm(med/max) ORI=1deg j2=17deg(sat0.09) smallbox_0_tilt=1deg eef->smallbox_0=388mm [----] smallbox_0->pocket=233mm
296
+ >> 08-11 18:53:36 [gen] step 80: lag=20/126mm(med/max) ORI=0deg j5=40deg(sat0.28) smallbox_3_tilt=1deg eef->smallbox_3=368mm [----] smallbox_3->pocket=155mm
297
+ >> 08-11 18:54:11 [gen] step 120: lag=5/64mm(med/max) ORI=1deg j4=76deg(sat0.07) smallbox_3_tilt=1deg eef->smallbox_3=138mm [----] smallbox_3->pocket=154mm
298
+ >> 08-11 18:54:49 [gen] step 160: lag=8/78mm(med/max) ORI=1deg j4=78deg(sat0.06) smallbox_3_tilt=1deg eef->smallbox_3=18mm [----] smallbox_3->pocket=154mm
299
+ >> 08-11 18:55:25 [gen] step 200: lag=3/73mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_3_tilt=0deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=152mm
300
+ >> 08-11 18:56:01 [gen] step 240: lag=3/111mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_3_tilt=0deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=152mm
301
+ >> 08-11 18:56:37 [gen] step 280: lag=3/111mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_3_tilt=0deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=152mm
302
+ >> 08-11 18:57:20 [gen] step 320: lag=11/109mm(med/max) ORI=3deg j4=88deg(sat-0.00) smallbox_3_tilt=3deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=189mm
303
+ >> 08-11 18:57:56 [gen] step 360: lag=13/111mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_3_tilt=8deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=99mm
304
+ >> 08-11 18:58:32 [gen] step 400: lag=2/110mm(med/max) ORI=0deg j4=71deg(sat0.10) smallbox_3_tilt=8deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=100mm
305
+ >> 08-11 18:59:12 [gen] step 440: lag=5/110mm(med/max) ORI=0deg j4=72deg(sat0.09) smallbox_3_tilt=4deg eef->smallbox_3=11mm [grip] smallbox_3->pocket=64mm
306
+ >> 08-11 18:59:48 [gen] step 480: lag=2/110mm(med/max) ORI=1deg j4=83deg(sat0.03) smallbox_3_tilt=27deg eef->smallbox_3=94mm [----] smallbox_3->pocket=60mm
307
+ >> 08-11 19:00:32 [gen] step 520: lag=3/110mm(med/max) ORI=0deg j4=87deg(sat0.01) smallbox_3_tilt=27deg eef->smallbox_3=75mm [----] smallbox_3->pocket=60mm
308
+ >> 08-11 19:01:10 [gen] step 560: lag=4/110mm(med/max) ORI=1deg j4=75deg(sat0.07) smallbox_3_tilt=27deg eef->smallbox_3=20mm [grip] smallbox_3->pocket=60mm
309
+ >> 08-11 19:01:46 [gen] step 600: lag=5/110mm(med/max) ORI=0deg j4=68deg(sat0.12) smallbox_3_tilt=27deg eef->smallbox_3=7mm [grip] smallbox_3->pocket=61mm
310
+ >> 08-11 19:02:21 [gen] step 640: lag=0/110mm(med/max) ORI=2deg j4=63deg(sat0.14) smallbox_3_tilt=1deg eef->smallbox_3=17mm [grip] smallbox_3->pocket=51mm
311
+ >> 08-11 19:02:32 [wpgen/press] push_seat_3: peak press force N all med=1.50 max=40.05 CONTACT n=319/512 med=5.64 p90=17.93 max=40.05 (gate 1.50 <= f <= 20.00)
312
+ >> 08-11 19:02:59 [gen] step 680: lag=1/110mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_3_tilt=1deg eef->smallbox_3=38mm [----] smallbox_3->pocket=51mm
313
+ >> 08-11 19:04:58 [wpgen/progress] batch 1 (cube b3): 124/512 kept running 124/400 (512 rollouts)
314
+ >> 08-11 19:05:39 [gen] step 720: lag=34/41mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_3_tilt=1deg eef->smallbox_3=386mm [----] smallbox_3->pocket=215mm
315
+ >> 08-11 19:06:13 [gen] step 760: lag=19/114mm(med/max) ORI=3deg j5=66deg(sat0.13) smallbox_0_tilt=1deg eef->smallbox_0=280mm [----] smallbox_0->pocket=154mm
316
+ >> 08-11 19:06:47 [gen] step 800: lag=1/61mm(med/max) ORI=1deg j4=77deg(sat0.06) smallbox_0_tilt=1deg eef->smallbox_0=155mm [----] smallbox_0->pocket=154mm
317
+ >> 08-11 19:07:24 [gen] step 840: lag=6/35mm(med/max) ORI=0deg j4=56deg(sat0.18) smallbox_0_tilt=1deg eef->smallbox_0=31mm [----] smallbox_0->pocket=154mm
318
+ >> 08-11 19:08:00 [gen] step 880: lag=3/61mm(med/max) ORI=6deg j4=53deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=46mm [grip] smallbox_0->pocket=145mm
319
+ >> 08-11 19:08:36 [gen] step 920: lag=3/51mm(med/max) ORI=6deg j4=53deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=47mm [grip] smallbox_0->pocket=144mm
320
+ >> 08-11 19:09:12 [gen] step 960: lag=3/51mm(med/max) ORI=6deg j4=53deg(sat0.20) smallbox_0_tilt=1deg eef->smallbox_0=47mm [grip] smallbox_0->pocket=144mm
321
+ >> 08-11 19:09:57 [gen] step 1000: lag=12/48mm(med/max) ORI=0deg j4=82deg(sat0.04) smallbox_0_tilt=1deg eef->smallbox_0=127mm [----] smallbox_0->pocket=149mm
322
+ >> 08-11 19:10:31 [gen] step 1040: lag=13/59mm(med/max) ORI=0deg j4=66deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=34mm [grip] smallbox_1->pocket=45mm
323
+ >> 08-11 19:11:07 [gen] step 1080: lag=2/52mm(med/max) ORI=0deg j4=65deg(sat0.13) smallbox_1_tilt=1deg eef->smallbox_1=27mm [grip] smallbox_1->pocket=45mm
324
+ >> 08-11 19:11:44 [gen] step 1120: lag=7/48mm(med/max) ORI=1deg j4=67deg(sat0.12) smallbox_1_tilt=1deg eef->smallbox_1=9mm [grip] smallbox_1->pocket=45mm
325
+ >> 08-11 19:12:20 [gen] step 1160: lag=3/48mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=6mm [grip] smallbox_1->pocket=45mm
326
+ >> 08-11 19:13:02 [gen] step 1200: lag=5/48mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=6mm [grip] smallbox_1->pocket=45mm
327
+ >> 08-11 19:13:39 [gen] step 1240: lag=4/48mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=6mm [grip] smallbox_1->pocket=45mm
328
+ >> 08-11 19:14:14 [gen] step 1280: lag=6/48mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=6mm [grip] smallbox_1->pocket=45mm
329
+ >> 08-11 19:14:54 [gen] step 1320: lag=0/48mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=6mm [grip] smallbox_1->pocket=45mm
330
+ >> 08-11 19:15:03 [wpgen/press] push_seat_0: peak press force N all med=1.29 max=43.72 CONTACT n=306/512 med=6.02 p90=22.80 max=43.72 (gate 1.50 <= f <= 20.00)
331
+ >> 08-11 19:15:29 [gen] step 1360: lag=0/48mm(med/max) ORI=0deg j4=64deg(sat0.14) smallbox_1_tilt=1deg eef->smallbox_1=6mm [grip] smallbox_1->pocket=45mm
332
+ >> 08-11 19:17:42 [wpgen/progress] batch 2 (cube b0): 124/512 kept running 248/400 (1024 rollouts)
333
+ >> 08-11 19:18:22 [gen] step 1400: lag=30/36mm(med/max) ORI=0deg j2=16deg(sat0.09) smallbox_1_tilt=1deg eef->smallbox_1=415mm [----] smallbox_1->pocket=217mm
334
+ >> 08-11 19:18:58 [gen] step 1440: lag=19/128mm(med/max) ORI=4deg j5=71deg(sat0.11) smallbox_1_tilt=1deg eef->smallbox_1=279mm [----] smallbox_1->pocket=217mm
335
+ >> 08-11 19:19:32 [gen] step 1480: lag=3/66mm(med/max) ORI=1deg j4=71deg(sat0.10) smallbox_1_tilt=1deg eef->smallbox_1=104mm [----] smallbox_1->pocket=217mm
336
+ >> 08-11 19:20:10 [gen] step 1520: lag=8/46mm(med/max) ORI=1deg j4=51deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=218mm
337
+ >> 08-11 19:20:46 [gen] step 1560: lag=3/80mm(med/max) ORI=1deg j4=51deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=219mm
338
+ >> 08-11 19:21:21 [gen] step 1600: lag=3/80mm(med/max) ORI=1deg j4=51deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=219mm
339
+ >> 08-11 19:21:57 [gen] step 1640: lag=4/84mm(med/max) ORI=1deg j4=51deg(sat0.21) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=219mm
340
+ >> 08-11 19:22:40 [gen] step 1680: lag=13/79mm(med/max) ORI=0deg j4=79deg(sat0.05) smallbox_1_tilt=1deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=226mm
341
+ >> 08-11 19:23:16 [gen] step 1720: lag=12/79mm(med/max) ORI=1deg j4=88deg(sat0.00) smallbox_1_tilt=2deg eef->smallbox_1=11mm [grip] smallbox_1->pocket=111mm
342
+ >> 08-11 19:23:51 [gen] step 1760: lag=2/79mm(med/max) ORI=1deg j4=88deg(sat0.00) smallbox_1_tilt=6deg eef->smallbox_1=12mm [grip] smallbox_1->pocket=71mm
343
+ >> 08-11 19:24:30 [gen] step 1800: lag=5/79mm(med/max) ORI=1deg j4=88deg(sat0.00) smallbox_1_tilt=32deg eef->smallbox_1=30mm [grip] smallbox_1->pocket=66mm
344
+ >> 08-11 19:25:06 [gen] step 1840: lag=1/122mm(med/max) ORI=1deg j4=88deg(sat0.00) smallbox_1_tilt=32deg eef->smallbox_1=25mm [grip] smallbox_1->pocket=65mm
345
+ >> 08-11 19:25:50 [gen] step 1880: lag=1/122mm(med/max) ORI=1deg j4=88deg(sat0.00) smallbox_1_tilt=28deg eef->smallbox_1=27mm [grip] smallbox_1->pocket=62mm
346
+ >> 08-11 19:26:26 [gen] step 1920: lag=8/122mm(med/max) ORI=1deg j4=87deg(sat0.01) smallbox_1_tilt=23deg eef->smallbox_1=35mm [grip] smallbox_1->pocket=60mm
347
+ >> 08-11 19:27:02 [gen] step 1960: lag=2/122mm(med/max) ORI=0deg j4=85deg(sat0.02) smallbox_1_tilt=1deg eef->smallbox_1=32mm [grip] smallbox_1->pocket=54mm
348
+ >> 08-11 19:27:39 [gen] step 2000: lag=1/122mm(med/max) ORI=4deg j4=88deg(sat0.00) smallbox_1_tilt=1deg eef->smallbox_1=173mm [----] smallbox_1->pocket=54mm
349
+ >> 08-11 19:27:59 [wpgen/press] push_seat_1: peak press force N all med=1.15 max=31.60 CONTACT n=315/512 med=5.29 p90=18.15 max=31.60 (gate 1.50 <= f <= 20.00)
350
+ >> 08-11 19:28:15 [gen] step 2040: lag=2/122mm(med/max) ORI=4deg j4=88deg(sat0.00) smallbox_1_tilt=1deg eef->smallbox_1=172mm [----] smallbox_1->pocket=54mm
351
+ >> 08-11 19:31:01 [wpgen/progress] batch 3 (cube b1): 126/512 kept running 374/400 (1536 rollouts)
352
+ >> 08-11 19:31:23 [gen] step 2080: lag=91/91mm(med/max) ORI=2deg j2=14deg(sat0.08) smallbox_1_tilt=1deg eef->smallbox_1=370mm [----] smallbox_1->pocket=243mm
353
+ >> 08-11 19:32:04 [gen] step 2120: lag=55/152mm(med/max) ORI=2deg j2=17deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=361mm [----] smallbox_2->pocket=216mm
354
+ >> 08-11 19:32:39 [gen] step 2160: lag=24/64mm(med/max) ORI=1deg j4=81deg(sat0.04) smallbox_2_tilt=1deg eef->smallbox_2=169mm [----] smallbox_2->pocket=216mm
355
+ >> 08-11 19:33:16 [gen] step 2200: lag=9/24mm(med/max) ORI=1deg j4=71deg(sat0.09) smallbox_2_tilt=1deg eef->smallbox_2=39mm [----] smallbox_2->pocket=216mm
356
+ >> 08-11 19:33:52 [gen] step 2240: lag=3/85mm(med/max) ORI=0deg j4=58deg(sat0.17) smallbox_2_tilt=1deg eef->smallbox_2=13mm [grip] smallbox_2->pocket=224mm
357
+ >> 08-11 19:34:29 [gen] step 2280: lag=3/110mm(med/max) ORI=0deg j4=58deg(sat0.17) smallbox_2_tilt=1deg eef->smallbox_2=13mm [grip] smallbox_2->pocket=224mm
358
+ >> 08-11 19:35:06 [gen] step 2320: lag=3/96mm(med/max) ORI=0deg j4=58deg(sat0.17) smallbox_2_tilt=1deg eef->smallbox_2=13mm [grip] smallbox_2->pocket=224mm
359
+ >> 08-11 19:35:48 [gen] step 2360: lag=14/102mm(med/max) ORI=0deg j4=73deg(sat0.08) smallbox_2_tilt=1deg eef->smallbox_2=13mm [grip] smallbox_2->pocket=240mm
360
+ >> 08-11 19:36:25 [gen] step 2400: lag=14/64mm(med/max) ORI=3deg j4=88deg(sat0.00) smallbox_2_tilt=3deg eef->smallbox_2=13mm [grip] smallbox_2->pocket=133mm
361
+ >> 08-11 19:37:02 [gen] step 2440: lag=3/64mm(med/max) ORI=0deg j4=88deg(sat0.00) smallbox_2_tilt=7deg eef->smallbox_2=13mm [grip] smallbox_2->pocket=101mm
362
+ >> 08-11 19:37:40 [gen] step 2480: lag=6/64mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_2_tilt=8deg eef->smallbox_2=13mm [grip] smallbox_2->pocket=50mm
363
+ >> 08-11 19:38:15 [gen] step 2520: lag=6/64mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_2_tilt=38deg eef->smallbox_2=31mm [grip] smallbox_2->pocket=44mm
364
+ >> 08-11 19:39:00 [gen] step 2560: lag=10/64mm(med/max) ORI=0deg j4=87deg(sat0.01) smallbox_2_tilt=29deg eef->smallbox_2=62mm [----] smallbox_2->pocket=43mm
365
+ >> 08-11 19:39:35 [gen] step 2600: lag=0/64mm(med/max) ORI=0deg j4=87deg(sat0.00) smallbox_2_tilt=30deg eef->smallbox_2=60mm [----] smallbox_2->pocket=43mm
366
+ >> 08-11 19:40:13 [gen] step 2640: lag=4/65mm(med/max) ORI=0deg j4=88deg(sat0.00) smallbox_2_tilt=30deg eef->smallbox_2=33mm [grip] smallbox_2->pocket=43mm
367
+ >> 08-11 19:40:52 [gen] step 2680: lag=6/65mm(med/max) ORI=0deg j4=80deg(sat0.05) smallbox_2_tilt=0deg eef->smallbox_2=39mm [grip] smallbox_2->pocket=47mm
368
+ >> 08-11 19:41:27 [gen] step 2720: lag=0/65mm(med/max) ORI=0deg j4=84deg(sat0.02) smallbox_2_tilt=1deg eef->smallbox_2=32mm [grip] smallbox_2->pocket=44mm
369
+ >> 08-11 19:41:35 [wpgen/press] push_seat_2: peak press force N all med=1.47 max=39.32 CONTACT n=331/512 med=5.46 p90=22.01 max=39.32 (gate 1.50 <= f <= 20.00)
370
+ >> 08-11 19:44:52 [wpgen/progress] batch 4 (cube b2): 126/512 kept running 500/400 (2048 rollouts)
371
+ >> 08-11 19:44:52 [wpgen/done] DONE (batched chunks): 500/400 kept in 2048 rollouts (4 batches of 512). success 500 | fail@[place_smallbox_3 184, push_seat_3 168, grasp_smallbox_3 21, motion:right_arm:j1_acc 2, motion:right_arm:j5_pos 39, place_smallbox_0 151, push_seat_0 200, grasp_smallbox_0 34, push_seat_1 179, place_smallbox_1 192, grasp_smallbox_1 3, push_seat_2 199, grasp_smallbox_2 28, place_smallbox_2 148] (fail rate 1548/2048 = 76%)
372
+ >> 08-11 19:44:52 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
373
+ >> 08-11 19:44:52 [wpgen/done] b0->s0: 21 [ 128, 16%] b0->s1: 33 [ 128, 26%] b0->s2: 43 [ 128, 34%] b0->s3: 27 [ 128, 21%] | b0 total 124
374
+ >> 08-11 19:44:52 [wpgen/done] b1->s0: 28 [ 128, 22%] b1->s1: 25 [ 128, 20%] b1->s2: 26 [ 128, 20%] b1->s3: 47 [ 128, 37%] | b1 total 126
375
+ >> 08-11 19:44:52 [wpgen/done] b2->s0: 27 [ 128, 21%] b2->s1: 31 [ 128, 24%] b2->s2: 31 [ 128, 24%] b2->s3: 37 [ 128, 29%] | b2 total 126
376
+ >> 08-11 19:44:52 [wpgen/done] b3->s0: 32 [ 128, 25%] b3->s1: 27 [ 128, 21%] b3->s2: 32 [ 128, 25%] b3->s3: 33 [ 128, 26%] | b3 total 124
377
+ >> 08-11 19:44:52 [wpgen/done] per-slot totals: s0= 108 s1= 116 s2= 132 s3= 144
378
+ >> 08-11 19:44:52 [wpgen/done] balance: min 21, max 47 per pair (2.2x spread over 16 pairs) <- UNEVEN, the commonest pair dominates training
379
+ | | 8d | |
380
+ |---------------------------------------------------------------------------------------------|
381
+ | 7 | NVIDIA B200 | Yes: 0 | | 183359 MB | 10de | 0 |
382
+ | | | | | | 2901 | 88cabb84.. |
383
+ | | | | | | 95 | |
384
+ |=============================================================================================|
385
+ | OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
386
+ | Processor: INTEL(R) XEON(R) PLATINUM 8570
387
+ | Cores: 104 | Logical Cores: 208
388
+ |---------------------------------------------------------------------------------------------|
389
+ | Total Memory (MB): 2922999 | Free Memory: 2691901
390
+ | Total Page/Swap (MB): 0 | Free Page/Swap: 0
391
+ |---------------------------------------------------------------------------------------------|
392
+ 2026-08-11T18:52:05Z [17,034ms] [Warning] [gpu.foundation.plugin] ECC is enabled on physical device 7
393
+ 2026-08-11T18:52:05Z [17,425ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
394
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395
+ 2026-08-11T18:52:05Z [17,446ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
396
+ 2026-08-11T18:52:05Z [17,446ms] [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)
397
+ 2026-08-11T18:52:05Z [17,457ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
398
+ 2026-08-11T18:52:05Z [17,457ms] [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)
399
+ 2026-08-11T18:52:05Z [17,465ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
400
+ 2026-08-11T18:52:05Z [17,465ms] [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)
401
+ 2026-08-11T18:52:05Z [17,467ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
402
+ 2026-08-11T18:52:05Z [17,467ms] [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)
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+ 2026-08-11T18:52:05Z [17,469ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
404
+ 2026-08-11T18:52:05Z [17,469ms] [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)
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+ 2026-08-11T18:52:06Z [17,949ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
406
+ 2026-08-11T18:52:06Z [18,173ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
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+ "demo_3685",
828
+ "demo_3701",
829
+ "demo_3702",
830
+ "demo_3706",
831
+ "demo_3707",
832
+ "demo_3713",
833
+ "demo_3714",
834
+ "demo_3715",
835
+ "demo_3717",
836
+ "demo_3729",
837
+ "demo_3735",
838
+ "demo_3737",
839
+ "demo_3743",
840
+ "demo_3746",
841
+ "demo_3749",
842
+ "demo_3754",
843
+ "demo_3755",
844
+ "demo_3756",
845
+ "demo_3762",
846
+ "demo_3764",
847
+ "demo_3766",
848
+ "demo_3769",
849
+ "demo_3775",
850
+ "demo_3776",
851
+ "demo_3780",
852
+ "demo_3786",
853
+ "demo_3788",
854
+ "demo_3791",
855
+ "demo_3793",
856
+ "demo_3800",
857
+ "demo_3813",
858
+ "demo_3814"
859
+ ],
860
+ "cull": {
861
+ "count": 807,
862
+ "keep": 3011
863
+ }
864
+ }
small_boxes/0720_3/render_select.txt ADDED
@@ -0,0 +1 @@
 
 
1
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small_boxes/0720_3/wpgen.hdf5 ADDED
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