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.gitattributes

@@ -12768,3 +12768,20 @@ small_boxes/0720_2/_shards/shard_5.hdf5 filter=lfs diff=lfs merge=lfs -text
 small_boxes/0720_2/_shards/shard_5.log filter=lfs diff=lfs merge=lfs -text
 small_boxes/0720_2/annotated.hdf5 filter=lfs diff=lfs merge=lfs -text
 small_boxes/0720_2/src.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu0.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu0_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu1.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu1_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu2.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu2_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu3.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu3_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu4.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu4_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu5.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu5_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu6.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu6_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu7.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/gen/gpu7_failed.hdf5 filter=lfs diff=lfs merge=lfs -text
+insert_bottles/0807_1/wpgen.hdf5 filter=lfs diff=lfs merge=lfs -text

insert_bottles/0807_1/final_keep.json

@@ -0,0 +1,3792 @@
+{
+ "source": "all demos minus label_cull.json",
+ "kept_demos": [
+  "demo_0",
+  "demo_1",
+  "demo_2",
+  "demo_3",
+  "demo_4",
+  "demo_5",
+  "demo_6",
+  "demo_7",
+  "demo_8",
+  "demo_9",
+  "demo_10",
+  "demo_11",
+  "demo_12",
+  "demo_13",
+  "demo_14",
+  "demo_15",
+  "demo_16",
+  "demo_17",
+  "demo_18",
+  "demo_19",
+  "demo_20",
+  "demo_21",
+  "demo_22",
+  "demo_23",
+  "demo_24",
+  "demo_26",
+  "demo_27",
+  "demo_28",
+  "demo_29",
+  "demo_30",
+  "demo_31",
+  "demo_32",
+  "demo_33",
+  "demo_34",
+  "demo_35",
+  "demo_36",
+  "demo_37",
+  "demo_38",
+  "demo_39",
+  "demo_40",
+  "demo_41",
+  "demo_42",
+  "demo_43",
+  "demo_44",
+  "demo_45",
+  "demo_46",
+  "demo_47",
+  "demo_48",
+  "demo_49",
+  "demo_50",
+  "demo_51",
+  "demo_52",
+  "demo_53",
+  "demo_54",
+  "demo_55",
+  "demo_56",
+  "demo_57",
+  "demo_58",
+  "demo_59",
+  "demo_60",
+  "demo_61",
+  "demo_62",
+  "demo_63",
+  "demo_64",
+  "demo_65",
+  "demo_66",
+  "demo_67",
+  "demo_68",
+  "demo_69",
+  "demo_70",
+  "demo_71",
+  "demo_72",
+  "demo_73",
+  "demo_74",
+  "demo_75",
+  "demo_76",
+  "demo_77",
+  "demo_78",
+  "demo_79",
+  "demo_80",
+  "demo_81",
+  "demo_82",
+  "demo_83",
+  "demo_84",
+  "demo_85",
+  "demo_86",
+  "demo_87",
+  "demo_88",
+  "demo_89",
+  "demo_90",
+  "demo_91",
+  "demo_92",
+  "demo_93",
+  "demo_94",
+  "demo_95",
+  "demo_96",
+  "demo_97",
+  "demo_98",
+  "demo_99",
+  "demo_100",
+  "demo_101",
+  "demo_102",
+  "demo_103",
+  "demo_104",
+  "demo_105",
+  "demo_106",
+  "demo_107",
+  "demo_108",
+  "demo_109",
+  "demo_110",
+  "demo_111",
+  "demo_112",
+  "demo_113",
+  "demo_114",
+  "demo_115",
+  "demo_116",
+  "demo_117",
+  "demo_118",
+  "demo_119",
+  "demo_120",
+  "demo_121",
+  "demo_122",
+  "demo_123",
+  "demo_124",
+  "demo_125",
+  "demo_126",
+  "demo_127",
+  "demo_128",
+  "demo_129",
+  "demo_130",
+  "demo_131",
+  "demo_132",
+  "demo_133",
+  "demo_134",
+  "demo_135",
+  "demo_136",
+  "demo_137",
+  "demo_138",
+  "demo_139",
+  "demo_140",
+  "demo_141",
+  "demo_142",
+  "demo_143",
+  "demo_144",
+  "demo_145",
+  "demo_146",
+  "demo_147",
+  "demo_148",
+  "demo_149",
+  "demo_150",
+  "demo_151",
+  "demo_152",
+  "demo_153",
+  "demo_154",
+  "demo_155",
+  "demo_156",
+  "demo_157",
+  "demo_158",
+  "demo_159",
+  "demo_160",
+  "demo_161",
+  "demo_162",
+  "demo_163",
+  "demo_164",
+  "demo_165",
+  "demo_166",
+  "demo_167",
+  "demo_168",
+  "demo_169",
+  "demo_170",
+  "demo_171",
+  "demo_172",
+  "demo_173",
+  "demo_174",
+  "demo_175",
+  "demo_176",
+  "demo_177",
+  "demo_178",
+  "demo_179",
+  "demo_180",
+  "demo_181",
+  "demo_182",
+  "demo_183",
+  "demo_184",
+  "demo_185",
+  "demo_186",
+  "demo_187",
+  "demo_188",
+  "demo_189",
+  "demo_190",
+  "demo_191",
+  "demo_192",
+  "demo_193",
+  "demo_194",
+  "demo_195",
+  "demo_196",
+  "demo_197",
+  "demo_198",
+  "demo_199",
+  "demo_200",
+  "demo_201",
+  "demo_202",
+  "demo_203",
+  "demo_204",
+  "demo_205",
+  "demo_206",
+  "demo_207",
+  "demo_208",
+  "demo_209",
+  "demo_210",
+  "demo_211",
+  "demo_212",
+  "demo_213",
+  "demo_214",
+  "demo_215",
+  "demo_216",
+  "demo_217",
+  "demo_218",
+  "demo_219",
+  "demo_220",
+  "demo_221",
+  "demo_222",
+  "demo_223",
+  "demo_224",
+  "demo_225",
+  "demo_226",
+  "demo_227",
+  "demo_228",
+  "demo_229",
+  "demo_230",
+  "demo_231",
+  "demo_232",
+  "demo_233",
+  "demo_234",
+  "demo_235",
+  "demo_236",
+  "demo_237",
+  "demo_238",
+  "demo_239",
+  "demo_240",
+  "demo_241",
+  "demo_242",
+  "demo_243",
+  "demo_244",
+  "demo_245",
+  "demo_246",
+  "demo_247",
+  "demo_248",
+  "demo_249",
+  "demo_250",
+  "demo_251",
+  "demo_252",
+  "demo_253",
+  "demo_254",
+  "demo_255",
+  "demo_256",
+  "demo_257",
+  "demo_258",
+  "demo_259",
+  "demo_260",
+  "demo_261",
+  "demo_262",
+  "demo_263",
+  "demo_264",
+  "demo_265",
+  "demo_266",
+  "demo_267",
+  "demo_268",
+  "demo_269",
+  "demo_270",
+  "demo_271",
+  "demo_272",
+  "demo_273",
+  "demo_274",
+  "demo_275",
+  "demo_276",
+  "demo_277",
+  "demo_278",
+  "demo_279",
+  "demo_280",
+  "demo_281",
+  "demo_282",
+  "demo_283",
+  "demo_284",
+  "demo_285",
+  "demo_286",
+  "demo_287",
+  "demo_288",
+  "demo_289",
+  "demo_290",
+  "demo_291",
+  "demo_292",
+  "demo_293",
+  "demo_294",
+  "demo_295",
+  "demo_296",
+  "demo_297",
+  "demo_298",
+  "demo_299",
+  "demo_300",
+  "demo_301",
+  "demo_302",
+  "demo_303",
+  "demo_304",
+  "demo_305",
+  "demo_306",
+  "demo_307",
+  "demo_308",
+  "demo_309",
+  "demo_310",
+  "demo_311",
+  "demo_312",
+  "demo_313",
+  "demo_314",
+  "demo_315",
+  "demo_316",
+  "demo_317",
+  "demo_318",
+  "demo_319",
+  "demo_320",
+  "demo_321",
+  "demo_322",
+  "demo_323",
+  "demo_324",
+  "demo_325",
+  "demo_326",
+  "demo_327",
+  "demo_328",
+  "demo_329",
+  "demo_330",
+  "demo_331",
+  "demo_332",
+  "demo_333",
+  "demo_334",
+  "demo_335",
+  "demo_336",
+  "demo_337",
+  "demo_338",
+  "demo_339",
+  "demo_340",
+  "demo_341",
+  "demo_342",
+  "demo_343",
+  "demo_344",
+  "demo_345",
+  "demo_346",
+  "demo_347",
+  "demo_348",
+  "demo_349",
+  "demo_350",
+  "demo_351",
+  "demo_352",
+  "demo_353",
+  "demo_354",
+  "demo_355",
+  "demo_356",
+  "demo_357",
+  "demo_358",
+  "demo_359",
+  "demo_360",
+  "demo_361",
+  "demo_362",
+  "demo_363",
+  "demo_364",
+  "demo_365",
+  "demo_366",
+  "demo_367",
+  "demo_368",
+  "demo_369",
+  "demo_370",
+  "demo_371",
+  "demo_372",
+  "demo_373",
+  "demo_374",
+  "demo_375",
+  "demo_376",
+  "demo_377",
+  "demo_378",
+  "demo_379",
+  "demo_381",
+  "demo_382",
+  "demo_383",
+  "demo_384",
+  "demo_385",
+  "demo_386",
+  "demo_387",
+  "demo_388",
+  "demo_389",
+  "demo_390",
+  "demo_391",
+  "demo_392",
+  "demo_393",
+  "demo_394",
+  "demo_395",
+  "demo_396",
+  "demo_397",
+  "demo_398",
+  "demo_399",
+  "demo_400",
+  "demo_401",
+  "demo_402",
+  "demo_403",
+  "demo_405",
+  "demo_406",
+  "demo_407",
+  "demo_408",
+  "demo_409",
+  "demo_410",
+  "demo_411",
+  "demo_412",
+  "demo_413",
+  "demo_414",
+  "demo_415",
+  "demo_416",
+  "demo_417",
+  "demo_418",
+  "demo_419",
+  "demo_420",
+  "demo_421",
+  "demo_422",
+  "demo_423",
+  "demo_424",
+  "demo_425",
+  "demo_426",
+  "demo_427",
+  "demo_428",
+  "demo_429",
+  "demo_430",
+  "demo_431",
+  "demo_432",
+  "demo_433",
+  "demo_434",
+  "demo_435",
+  "demo_436",
+  "demo_437",
+  "demo_438",
+  "demo_439",
+  "demo_440",
+  "demo_441",
+  "demo_442",
+  "demo_443",
+  "demo_444",
+  "demo_445",
+  "demo_446",
+  "demo_447",
+  "demo_448",
+  "demo_449",
+  "demo_450",
+  "demo_451",
+  "demo_452",
+  "demo_453",
+  "demo_454",
+  "demo_455",
+  "demo_456",
+  "demo_457",
+  "demo_458",
+  "demo_459",
+  "demo_460",
+  "demo_461",
+  "demo_462",
+  "demo_463",
+  "demo_464",
+  "demo_465",
+  "demo_466",
+  "demo_467",
+  "demo_468",
+  "demo_469",
+  "demo_470",
+  "demo_471",
+  "demo_472",
+  "demo_473",
+  "demo_474",
+  "demo_475",
+  "demo_476",
+  "demo_477",
+  "demo_478",
+  "demo_479",
+  "demo_480",
+  "demo_481",
+  "demo_482",
+  "demo_483",
+  "demo_484",
+  "demo_485",
+  "demo_486",
+  "demo_487",
+  "demo_488",
+  "demo_489",
+  "demo_490",
+  "demo_491",
+  "demo_492",
+  "demo_493",
+  "demo_494",
+  "demo_495",
+  "demo_496",
+  "demo_497",
+  "demo_498",
+  "demo_499",
+  "demo_500",
+  "demo_501",
+  "demo_502",
+  "demo_503",
+  "demo_504",
+  "demo_505",
+  "demo_506",
+  "demo_507",
+  "demo_508",
+  "demo_509",
+  "demo_510",
+  "demo_511",
+  "demo_512",
+  "demo_513",
+  "demo_514",
+  "demo_515",
+  "demo_516",
+  "demo_517",
+  "demo_518",
+  "demo_519",
+  "demo_520",
+  "demo_521",
+  "demo_522",
+  "demo_523",
+  "demo_524",
+  "demo_525",
+  "demo_526",
+  "demo_527",
+  "demo_528",
+  "demo_529",
+  "demo_530",
+  "demo_531",
+  "demo_532",
+  "demo_533",
+  "demo_534",
+  "demo_535",
+  "demo_536",
+  "demo_537",
+  "demo_538",
+  "demo_539",
+  "demo_540",
+  "demo_541",
+  "demo_542",
+  "demo_543",
+  "demo_544",
+  "demo_545",
+  "demo_546",
+  "demo_547",
+  "demo_548",
+  "demo_549",
+  "demo_550",
+  "demo_551",
+  "demo_552",
+  "demo_553",
+  "demo_554",
+  "demo_555",
+  "demo_556",
+  "demo_557",
+  "demo_558",
+  "demo_559",
+  "demo_560",
+  "demo_561",
+  "demo_562",
+  "demo_563",
+  "demo_564",
+  "demo_565",
+  "demo_566",
+  "demo_567",
+  "demo_568",
+  "demo_569",
+  "demo_570",
+  "demo_571",
+  "demo_572",
+  "demo_573",
+  "demo_574",
+  "demo_575",
+  "demo_576",
+  "demo_577",
+  "demo_578",
+  "demo_579",
+  "demo_580",
+  "demo_581",
+  "demo_582",
+  "demo_583",
+  "demo_584",
+  "demo_585",
+  "demo_586",
+  "demo_587",
+  "demo_588",
+  "demo_589",
+  "demo_590",
+  "demo_591",
+  "demo_592",
+  "demo_593",
+  "demo_594",
+  "demo_595",
+  "demo_596",
+  "demo_597",
+  "demo_598",
+  "demo_599",
+  "demo_600",
+  "demo_601",
+  "demo_602",
+  "demo_603",
+  "demo_604",
+  "demo_605",
+  "demo_606",
+  "demo_607",
+  "demo_608",
+  "demo_609",
+  "demo_610",
+  "demo_611",
+  "demo_612",
+  "demo_613",
+  "demo_614",
+  "demo_615",
+  "demo_616",
+  "demo_617",
+  "demo_618",
+  "demo_619",
+  "demo_620",
+  "demo_621",
+  "demo_622",
+  "demo_623",
+  "demo_624",
+  "demo_625",
+  "demo_626",
+  "demo_627",
+  "demo_628",
+  "demo_629",
+  "demo_630",
+  "demo_631",
+  "demo_632",
+  "demo_633",
+  "demo_634",
+  "demo_635",
+  "demo_636",
+  "demo_637",
+  "demo_638",
+  "demo_639",
+  "demo_640",
+  "demo_641",
+  "demo_642",
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+  "demo_645",
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+  "demo_647",
+  "demo_648",
+  "demo_649",
+  "demo_650",
+  "demo_651",
+  "demo_652",
+  "demo_653",
+  "demo_654",
+  "demo_655",
+  "demo_656",
+  "demo_657",
+  "demo_658",
+  "demo_659",
+  "demo_660",
+  "demo_661",
+  "demo_662",
+  "demo_663",
+  "demo_664",
+  "demo_665",
+  "demo_666",
+  "demo_667",
+  "demo_668",
+  "demo_669",
+  "demo_670",
+  "demo_671",
+  "demo_672",
+  "demo_673",
+  "demo_674",
+  "demo_675",
+  "demo_676",
+  "demo_677",
+  "demo_678",
+  "demo_679",
+  "demo_680",
+  "demo_681",
+  "demo_682",
+  "demo_684",
+  "demo_685",
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+  "demo_688",
+  "demo_689",
+  "demo_690",
+  "demo_691",
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+  "demo_694",
+  "demo_695",
+  "demo_696",
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+  "demo_812",
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+}

insert_bottles/0807_1/gen/gpu0.hdf5

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+oid sha256:977655325789fe22d2622646c99848310c04710c00dff138ea4370f9df852604
+size 302250540

insert_bottles/0807_1/gen/gpu0.log

@@ -0,0 +1,329 @@
+
+Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [98ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [411ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [548ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [559ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:54Z [10,762ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:54Z [10,762ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:54Z [10,762ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829448
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:56Z [13,200ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:56Z [13,208ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:56Z [13,208ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:56Z [13,208ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [13,248ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-08-11T16:45:09Z [26,329ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:09Z [26,329ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2820978
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:10Z [27,250ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2819219
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:11Z [28,172ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:45:11Z [28,176ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:45:11Z [28,274ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:11Z [28,274ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:11Z [28,277ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:45:11Z [28,285ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:11Z [28,285ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:11Z [28,294ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:11Z [28,294ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:11Z [28,296ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:45:12Z [28,793ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:45:12Z [28,830ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:12Z [28,830ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:45:12Z [28,835ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:12Z [28,835ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-12.log
+======================================================================================
+
+16:45:12 [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.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 5.439643 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 2.147641 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:20 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:20 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:21 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:21 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:21 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:21 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:21 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:21 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:21 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:21 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:21 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:46:09 [gen] step 40: lag=34/41mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=379mm [----]  bottle_0->pocket=295mm
+>> 08-11 16:46:42 [gen] step 80: lag=34/170mm(med/max)  ORI=2deg  j4=73deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=207mm [----]  bottle_0->pocket=295mm
+>> 08-11 16:47:16 [gen] step 120: lag=22/270mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=98mm [----]  bottle_0->pocket=295mm
+>> 08-11 16:47:49 [gen] step 160: lag=0/608mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=98mm [----]  bottle_0->pocket=295mm
+>> 08-11 16:48:24 [gen] step 200: lag=10/656mm(med/max)  ORI=0deg  j4=78deg(sat0.06)  bottle_3_tilt=17deg  eef->bottle_3=60mm [----]  bottle_3->pocket=305mm
+>> 08-11 16:48:59 [gen] step 240: lag=1/683mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_3_tilt=17deg  eef->bottle_3=26mm [grip]  bottle_3->pocket=293mm
+>> 08-11 16:49:34 [gen] step 280: lag=5/683mm(med/max)  ORI=1deg  j4=69deg(sat0.11)  bottle_3_tilt=17deg  eef->bottle_3=23mm [grip]  bottle_3->pocket=293mm
+>> 08-11 16:50:20 [gen] step 320: lag=16/681mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=124mm [----]  bottle_3->pocket=293mm
+>> 08-11 16:50:55 [gen] step 360: lag=24/681mm(med/max)  ORI=5deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=121mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:51:29 [gen] step 400: lag=7/681mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=45mm [grip]  bottle_1->pocket=91mm
+>> 08-11 16:52:08 [gen] step 440: lag=4/681mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=31mm [grip]  bottle_1->pocket=91mm
+>> 08-11 16:52:41 [gen] step 480: lag=5/681mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=52mm [----]  bottle_1->pocket=90mm
+>> 08-11 16:53:17 [gen] step 520: lag=1/681mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=90mm
+>> 08-11 16:53:56 [gen] step 560: lag=3/681mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=90mm
+>> 08-11 16:54:33 [gen] step 600: lag=6/681mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=90mm
+>> 08-11 16:55:12 [gen] step 640: lag=16/681mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:55:47 [gen] step 680: lag=5/681mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:56:04 [wpgen/press] push_seat_3: peak press force N  all med=8.04 max=71.62  CONTACT n=295/512 med=11.55 p90=19.63 max=71.62  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:56:21 [gen] step 720: lag=8/681mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:58:58 [wpgen/progress] batch 1 (cube b3): 140/512 kept  running 140/400  (512 rollouts)
+>> 08-11 16:59:23 [gen] step 760: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=367mm [----]  bottle_0->pocket=170mm
+>> 08-11 17:00:05 [gen] step 800: lag=42/278mm(med/max)  ORI=3deg  j2=20deg(sat0.11)  bottle_1_tilt=17deg  eef->bottle_1=297mm [----]  bottle_1->pocket=195mm
+>> 08-11 17:00:39 [gen] step 840: lag=24/678mm(med/max)  ORI=1deg  j4=64deg(sat0.13)  bottle_1_tilt=17deg  eef->bottle_1=115mm [----]  bottle_1->pocket=195mm
+>> 08-11 17:01:13 [gen] step 880: lag=0/606mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_1_tilt=17deg  eef->bottle_1=41mm [----]  bottle_1->pocket=195mm
+>> 08-11 17:01:46 [gen] step 920: lag=0/660mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_1_tilt=17deg  eef->bottle_1=41mm [----]  bottle_1->pocket=195mm
+>> 08-11 17:02:23 [gen] step 960: lag=8/643mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_1_tilt=17deg  eef->bottle_1=15mm [grip]  bottle_1->pocket=195mm
+>> 08-11 17:02:59 [gen] step 1000: lag=1/655mm(med/max)  ORI=0deg  j4=66deg(sat0.12)  bottle_1_tilt=16deg  eef->bottle_1=15mm [grip]  bottle_1->pocket=193mm
+>> 08-11 17:03:45 [gen] step 1040: lag=11/656mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_1_tilt=17deg  eef->bottle_1=15mm [grip]  bottle_1->pocket=194mm
+>> 08-11 17:04:21 [gen] step 1080: lag=17/656mm(med/max)  ORI=5deg  j4=88deg(sat0.00)  bottle_1_tilt=11deg  eef->bottle_1=15mm [grip]  bottle_1->pocket=143mm
+>> 08-11 17:04:55 [gen] step 1120: lag=15/656mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=15mm [grip]  bottle_1->pocket=69mm
+>> 08-11 17:05:30 [gen] step 1160: lag=4/656mm(med/max)  ORI=0deg  j4=86deg(sat0.01)  bottle_1_tilt=9deg  eef->bottle_1=15mm [grip]  bottle_1->pocket=67mm
+>> 08-11 17:06:08 [gen] step 1200: lag=7/656mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_1_tilt=6deg  eef->bottle_1=15mm [grip]  bottle_1->pocket=121mm
+>> 08-11 17:06:44 [gen] step 1240: lag=7/656mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=22mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:07:24 [gen] step 1280: lag=8/656mm(med/max)  ORI=0deg  j4=68deg(sat0.12)  bottle_1_tilt=17deg  eef->bottle_1=56mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:07:58 [gen] step 1320: lag=0/656mm(med/max)  ORI=0deg  j4=66deg(sat0.12)  bottle_1_tilt=17deg  eef->bottle_1=52mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:08:36 [gen] step 1360: lag=21/656mm(med/max)  ORI=1deg  j4=70deg(sat0.10)  bottle_1_tilt=17deg  eef->bottle_1=4mm [grip]  bottle_1->pocket=100mm
+>> 08-11 17:09:10 [gen] step 1400: lag=9/656mm(med/max)  ORI=6deg  j4=65deg(sat0.13)  bottle_1_tilt=9deg  eef->bottle_1=12mm [grip]  bottle_1->pocket=100mm
+>> 08-11 17:09:40 [wpgen/press] push_seat_1: peak press force N  all med=7.89 max=65.26  CONTACT n=283/512 med=12.41 p90=21.62 max=65.26  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:09:44 [gen] step 1440: lag=0/656mm(med/max)  ORI=0deg  j4=71deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=122mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:13:12 [wpgen/progress] batch 2 (cube b1): 157/512 kept  running 297/400  (1024 rollouts)
+>> 08-11 17:13:24 [gen] step 1480: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_2_tilt=17deg  eef->bottle_2=361mm [----]  bottle_2->pocket=266mm
+>> 08-11 17:14:07 [gen] step 1520: lag=84/113mm(med/max)  ORI=1deg  j2=16deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=385mm [----]  bottle_2->pocket=266mm
+>> 08-11 17:14:40 [gen] step 1560: lag=20/426mm(med/max)  ORI=1deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=226mm [----]  bottle_2->pocket=266mm
+>> 08-11 17:15:14 [gen] step 1600: lag=0/732mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=164mm [----]  bottle_2->pocket=266mm
+>> 08-11 17:15:47 [gen] step 1640: lag=0/673mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=164mm [----]  bottle_2->pocket=266mm
+>> 08-11 17:16:23 [gen] step 1680: lag=11/674mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_2_tilt=17deg  eef->bottle_2=63mm [----]  bottle_2->pocket=266mm
+>> 08-11 17:16:59 [gen] step 1720: lag=1/674mm(med/max)  ORI=0deg  j4=56deg(sat0.18)  bottle_2_tilt=108deg  eef->bottle_2=29mm [grip]  bottle_2->pocket=262mm
+>> 08-11 17:17:34 [gen] step 1760: lag=4/677mm(med/max)  ORI=1deg  j4=56deg(sat0.18)  bottle_2_tilt=108deg  eef->bottle_2=28mm [grip]  bottle_2->pocket=262mm
+>> 08-11 17:18:19 [gen] step 1800: lag=15/677mm(med/max)  ORI=0deg  j4=82deg(sat0.03)  bottle_2_tilt=108deg  eef->bottle_2=134mm [----]  bottle_2->pocket=262mm
+>> 08-11 17:18:56 [gen] step 1840: lag=16/677mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_3_tilt=11deg  eef->bottle_3=105mm [----]  bottle_3->pocket=100mm
+>> 08-11 17:19:30 [gen] step 1880: lag=4/677mm(med/max)  ORI=0deg  j4=84deg(sat0.02)  bottle_1_tilt=17deg  eef->bottle_1=42mm [grip]  bottle_1->pocket=103mm
+>> 08-11 17:20:10 [gen] step 1920: lag=8/677mm(med/max)  ORI=1deg  j4=81deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=36mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:20:45 [gen] step 1960: lag=7/677mm(med/max)  ORI=0deg  j4=87deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=77mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:21:28 [gen] step 2000: lag=7/677mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:22:02 [gen] step 2040: lag=0/677mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:22:38 [gen] step 2080: lag=14/677mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:23:12 [gen] step 2120: lag=11/677mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:23:49 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=158.02  CONTACT n=215/512 med=12.77 p90=22.85 max=158.02  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:23:52 [gen] step 2160: lag=0/677mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:27:51 [wpgen/progress] batch 3 (cube b2): 93/512 kept  running 390/400  (1536 rollouts)
+>> 08-11 17:28:02 [gen] step 2200: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=396mm [----]  bottle_0->pocket=169mm
+>> 08-11 17:28:44 [gen] step 2240: lag=80/109mm(med/max)  ORI=2deg  j2=23deg(sat0.13)  bottle_0_tilt=17deg  eef->bottle_0=412mm [----]  bottle_0->pocket=169mm
+>> 08-11 17:29:17 [gen] step 2280: lag=22/494mm(med/max)  ORI=1deg  j3=-51deg(sat0.30)  bottle_0_tilt=17deg  eef->bottle_0=195mm [----]  bottle_0->pocket=169mm
+>> 08-11 17:29:51 [gen] step 2320: lag=0/888mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=77mm [----]  bottle_0->pocket=169mm
+>> 08-11 17:30:25 [gen] step 2360: lag=0/707mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=77mm [----]  bottle_0->pocket=169mm
+>> 08-11 17:31:01 [gen] step 2400: lag=5/607mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=20mm [grip]  bottle_0->pocket=181mm
+>> 08-11 17:31:37 [gen] step 2440: lag=0/608mm(med/max)  ORI=0deg  j4=73deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=20mm [grip]  bottle_0->pocket=185mm
+>> 08-11 17:32:23 [gen] step 2480: lag=12/610mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_0_tilt=17deg  eef->bottle_0=20mm [grip]  bottle_0->pocket=182mm
+>> 08-11 17:32:57 [gen] step 2520: lag=17/610mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_0_tilt=15deg  eef->bottle_0=20mm [grip]  bottle_0->pocket=132mm
+>> 08-11 17:33:32 [gen] step 2560: lag=10/610mm(med/max)  ORI=0deg  j4=77deg(sat0.06)  bottle_0_tilt=15deg  eef->bottle_0=20mm [grip]  bottle_0->pocket=156mm
+>> 08-11 17:34:10 [gen] step 2600: lag=9/610mm(med/max)  ORI=1deg  j4=68deg(sat0.11)  bottle_0_tilt=15deg  eef->bottle_0=20mm [grip]  bottle_0->pocket=120mm
+>> 08-11 17:34:45 [gen] step 2640: lag=6/610mm(med/max)  ORI=0deg  j4=61deg(sat0.15)  bottle_0_tilt=17deg  eef->bottle_0=21mm [grip]  bottle_0->pocket=95mm
+>> 08-11 17:35:25 [gen] step 2680: lag=9/610mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=75mm [----]  bottle_0->pocket=95mm
+>> 08-11 17:36:01 [gen] step 2720: lag=1/610mm(med/max)  ORI=0deg  j4=61deg(sat0.15)  bottle_0_tilt=17deg  eef->bottle_0=26mm [grip]  bottle_0->pocket=95mm
+>> 08-11 17:36:37 [gen] step 2760: lag=18/610mm(med/max)  ORI=3deg  j4=58deg(sat0.17)  bottle_0_tilt=2deg  eef->bottle_0=5mm [grip]  bottle_0->pocket=95mm
+>> 08-11 17:37:11 [gen] step 2800: lag=14/610mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=18mm [grip]  bottle_0->pocket=96mm
+>> 08-11 17:37:47 [gen] step 2840: lag=0/610mm(med/max)  ORI=0deg  j4=70deg(sat0.10)  bottle_0_tilt=17deg  eef->bottle_0=117mm [----]  bottle_0->pocket=96mm
+>> 08-11 17:37:47 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=142.03  CONTACT n=239/512 med=12.64 p90=23.18 max=142.03  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:41:44 [wpgen/progress] batch 4 (cube b0): 121/512 kept  running 511/400  (2048 rollouts)
+>> 08-11 17:41:44 [wpgen/done] DONE (batched chunks): 511/400 kept in 2048 rollouts (4 batches of 512). success 511 | fail@[place_bottle_3 206, push_seat_3 140, grasp_bottle_3 11, motion:right_arm:j6_cmd 5, motion:right_arm:j3_cmd 1, motion:right_arm:j5_pos 31, motion:right_arm:j6_pos 2, place_bottle_1 198, push_seat_1 117, grasp_bottle_1 30, motion:right_arm:j5_acc 1, place_bottle_2 270, push_seat_2 116, grasp_bottle_2 24, push_seat_0 113, place_bottle_0 247, grasp_bottle_0 25]  (fail rate 1537/2048 = 75%)
+>> 08-11 17:41:44 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:41:44 [wpgen/done]     b0->s0:   40 [ 128,  31%]  b0->s1:   30 [ 128,  23%]  b0->s2:   30 [ 128,  23%]  b0->s3:   21 [ 128,  16%]   | b0 total  121
+>> 08-11 17:41:44 [wpgen/done]     b1->s0:   52 [ 128,  41%]  b1->s1:   27 [ 128,  21%]  b1->s2:   37 [ 128,  29%]  b1->s3:   41 [ 128,  32%]   | b1 total  157
+>> 08-11 17:41:44 [wpgen/done]     b2->s0:   26 [ 128,  20%]  b2->s1:   22 [ 128,  17%]  b2->s2:   20 [ 128,  16%]  b2->s3:   25 [ 128,  20%]   | b2 total   93
+>> 08-11 17:41:44 [wpgen/done]     b3->s0:   45 [ 128,  35%]  b3->s1:   39 [ 128,  30%]  b3->s2:   25 [ 128,  20%]  b3->s3:   31 [ 128,  24%]   | b3 total  140
+>> 08-11 17:41:44 [wpgen/done]     per-slot totals: s0= 163  s1= 118  s2= 112  s3= 118
+>> 08-11 17:41:44 [wpgen/done]     balance: min 20, max 52 per pair (2.6x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:45:12Z [29,020ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:45:12Z [29,024ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:41:45Z [3,422,456ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu0_failed.hdf5

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+size 927978468

insert_bottles/0807_1/gen/gpu1.hdf5

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+version https://git-lfs.github.com/spec/v1
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+size 273977608

insert_bottles/0807_1/gen/gpu1.log

@@ -0,0 +1,329 @@
+
+Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [99ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [422ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [558ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [568ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:53Z [10,650ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:53Z [10,650ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:53Z [10,650ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829634
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:55Z [12,745ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:55Z [12,754ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:55Z [12,754ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:55Z [12,754ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [12,823ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-08-11T16:44:59Z [15,974ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:44:59Z [15,974ms] [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)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2828842
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:00Z [16,894ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2828746
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:01Z [17,829ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:45:01Z [17,832ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:45:01Z [17,926ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:01Z [17,926ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:01Z [17,930ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:45:01Z [17,937ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:01Z [17,937ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:01Z [17,947ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:01Z [17,947ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:01Z [17,948ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:45:01Z [18,463ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:45:01Z [18,500ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:01Z [18,500ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:45:01Z [18,505ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:01Z [18,505ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-01.log
+======================================================================================
+
+16:45:01 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 5.287347 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 2.156664 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:09 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:09 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:11 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:11 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:11 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:11 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:11 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:11 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:11 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:11 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:11 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:46:01 [gen] step 40: lag=34/41mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=380mm [----]  bottle_1->pocket=254mm
+>> 08-11 16:46:36 [gen] step 80: lag=21/136mm(med/max)  ORI=3deg  j5=58deg(sat0.18)  bottle_2_tilt=17deg  eef->bottle_2=254mm [----]  bottle_2->pocket=159mm
+>> 08-11 16:47:11 [gen] step 120: lag=7/63mm(med/max)  ORI=0deg  j4=74deg(sat0.08)  bottle_2_tilt=17deg  eef->bottle_2=126mm [----]  bottle_2->pocket=159mm
+>> 08-11 16:47:45 [gen] step 160: lag=0/158mm(med/max)  ORI=0deg  j4=74deg(sat0.08)  bottle_2_tilt=17deg  eef->bottle_2=126mm [----]  bottle_2->pocket=159mm
+>> 08-11 16:48:22 [gen] step 200: lag=12/199mm(med/max)  ORI=1deg  j4=68deg(sat0.11)  bottle_2_tilt=17deg  eef->bottle_2=72mm [----]  bottle_2->pocket=159mm
+>> 08-11 16:48:59 [gen] step 240: lag=1/188mm(med/max)  ORI=0deg  j4=57deg(sat0.18)  bottle_2_tilt=17deg  eef->bottle_2=21mm [grip]  bottle_2->pocket=148mm
+>> 08-11 16:49:36 [gen] step 280: lag=1/190mm(med/max)  ORI=0deg  j4=57deg(sat0.18)  bottle_2_tilt=17deg  eef->bottle_2=21mm [grip]  bottle_2->pocket=148mm
+>> 08-11 16:50:22 [gen] step 320: lag=12/190mm(med/max)  ORI=0deg  j4=84deg(sat0.02)  bottle_2_tilt=17deg  eef->bottle_2=21mm [grip]  bottle_2->pocket=201mm
+>> 08-11 16:50:59 [gen] step 360: lag=19/190mm(med/max)  ORI=2deg  j4=83deg(sat0.03)  bottle_2_tilt=16deg  eef->bottle_2=21mm [grip]  bottle_2->pocket=129mm
+>> 08-11 16:51:34 [gen] step 400: lag=4/190mm(med/max)  ORI=0deg  j4=75deg(sat0.07)  bottle_2_tilt=16deg  eef->bottle_2=21mm [grip]  bottle_2->pocket=108mm
+>> 08-11 16:52:16 [gen] step 440: lag=10/190mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_2_tilt=13deg  eef->bottle_2=21mm [grip]  bottle_2->pocket=76mm
+>> 08-11 16:52:51 [gen] step 480: lag=5/190mm(med/max)  ORI=0deg  j4=73deg(sat0.09)  bottle_2_tilt=48deg  eef->bottle_2=10mm [----]  bottle_2->pocket=85mm
+>> 08-11 16:53:33 [gen] step 520: lag=10/190mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=42deg  eef->bottle_2=91mm [----]  bottle_2->pocket=85mm
+>> 08-11 16:54:09 [gen] step 560: lag=1/190mm(med/max)  ORI=0deg  j4=68deg(sat0.11)  bottle_2_tilt=42deg  eef->bottle_2=18mm [----]  bottle_2->pocket=85mm
+>> 08-11 16:54:46 [gen] step 600: lag=12/190mm(med/max)  ORI=1deg  j4=68deg(sat0.11)  bottle_2_tilt=41deg  eef->bottle_2=10mm [grip]  bottle_2->pocket=85mm
+>> 08-11 16:55:21 [gen] step 640: lag=20/190mm(med/max)  ORI=6deg  j4=63deg(sat0.14)  bottle_2_tilt=53deg  eef->bottle_2=7mm [grip]  bottle_2->pocket=88mm
+>> 08-11 16:56:02 [gen] step 680: lag=1/190mm(med/max)  ORI=0deg  j4=66deg(sat0.12)  bottle_2_tilt=26deg  eef->bottle_2=57mm [----]  bottle_2->pocket=89mm
+>> 08-11 16:56:09 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=71.84  CONTACT n=235/512 med=12.32 p90=23.70 max=71.84  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:59:00 [wpgen/progress] batch 1 (cube b2): 82/512 kept  running 82/400  (512 rollouts)
+>> 08-11 16:59:02 [gen] step 720: lag=1/1mm(med/max)  ORI=1deg  j2=1deg(sat0.00)  bottle_2_tilt=0deg  eef->bottle_2=280mm [----]  bottle_2->pocket=323mm
+>> 08-11 16:59:44 [gen] step 760: lag=39/46mm(med/max)  ORI=0deg  j2=17deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=388mm [----]  bottle_2->pocket=323mm
+>> 08-11 17:00:19 [gen] step 800: lag=20/275mm(med/max)  ORI=1deg  j4=52deg(sat0.21)  bottle_0_tilt=17deg  eef->bottle_0=240mm [----]  bottle_0->pocket=180mm
+>> 08-11 17:00:54 [gen] step 840: lag=2/760mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_0_tilt=17deg  eef->bottle_0=129mm [----]  bottle_0->pocket=180mm
+>> 08-11 17:01:28 [gen] step 880: lag=0/644mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_0_tilt=17deg  eef->bottle_0=129mm [----]  bottle_0->pocket=180mm
+>> 08-11 17:02:05 [gen] step 920: lag=12/652mm(med/max)  ORI=1deg  j4=68deg(sat0.11)  bottle_0_tilt=17deg  eef->bottle_0=68mm [----]  bottle_0->pocket=180mm
+>> 08-11 17:02:41 [gen] step 960: lag=1/653mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_0_tilt=108deg  eef->bottle_0=28mm [grip]  bottle_0->pocket=176mm
+>> 08-11 17:03:19 [gen] step 1000: lag=0/653mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_0_tilt=108deg  eef->bottle_0=28mm [grip]  bottle_0->pocket=176mm
+>> 08-11 17:04:06 [gen] step 1040: lag=14/651mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_0_tilt=108deg  eef->bottle_0=117mm [----]  bottle_0->pocket=176mm
+>> 08-11 17:04:41 [gen] step 1080: lag=22/651mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_0_tilt=108deg  eef->bottle_0=162mm [----]  bottle_0->pocket=176mm
+>> 08-11 17:05:17 [gen] step 1120: lag=4/651mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_0_tilt=108deg  eef->bottle_0=166mm [----]  bottle_0->pocket=176mm
+>> 08-11 17:05:56 [gen] step 1160: lag=6/651mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=85mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:06:33 [gen] step 1200: lag=5/651mm(med/max)  ORI=4deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=108mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:07:14 [gen] step 1240: lag=6/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=106mm [----]  bottle_1->pocket=103mm
+>> 08-11 17:07:49 [gen] step 1280: lag=0/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=106mm [----]  bottle_1->pocket=102mm
+>> 08-11 17:08:28 [gen] step 1320: lag=16/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=106mm [----]  bottle_1->pocket=102mm
+>> 08-11 17:09:03 [gen] step 1360: lag=9/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=106mm [----]  bottle_1->pocket=102mm
+>> 08-11 17:09:27 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=66.84  CONTACT n=217/512 med=12.47 p90=21.03 max=66.84  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:09:38 [gen] step 1400: lag=7/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=106mm [----]  bottle_1->pocket=102mm
+>> 08-11 17:12:44 [wpgen/progress] batch 2 (cube b0): 100/512 kept  running 182/400  (1024 rollouts)
+>> 08-11 17:13:03 [gen] step 1440: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_1_tilt=17deg  eef->bottle_1=367mm [----]  bottle_1->pocket=281mm
+>> 08-11 17:13:45 [gen] step 1480: lag=73/205mm(med/max)  ORI=1deg  j3=-31deg(sat0.18)  bottle_1_tilt=17deg  eef->bottle_1=252mm [----]  bottle_1->pocket=281mm
+>> 08-11 17:14:20 [gen] step 1520: lag=24/590mm(med/max)  ORI=1deg  j4=68deg(sat0.11)  bottle_1_tilt=17deg  eef->bottle_1=59mm [----]  bottle_1->pocket=281mm
+>> 08-11 17:14:54 [gen] step 1560: lag=0/730mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=41mm [----]  bottle_1->pocket=281mm
+>> 08-11 17:15:29 [gen] step 1600: lag=0/521mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=41mm [----]  bottle_1->pocket=281mm
+>> 08-11 17:16:06 [gen] step 1640: lag=7/593mm(med/max)  ORI=0deg  j4=77deg(sat0.06)  bottle_1_tilt=17deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=283mm
+>> 08-11 17:16:42 [gen] step 1680: lag=1/593mm(med/max)  ORI=0deg  j4=77deg(sat0.06)  bottle_1_tilt=17deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=283mm
+>> 08-11 17:17:30 [gen] step 1720: lag=12/593mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=282mm
+>> 08-11 17:18:06 [gen] step 1760: lag=17/593mm(med/max)  ORI=7deg  j4=88deg(sat0.00)  bottle_1_tilt=11deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=197mm
+>> 08-11 17:18:41 [gen] step 1800: lag=14/593mm(med/max)  ORI=7deg  j4=88deg(sat0.00)  bottle_1_tilt=8deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=87mm
+>> 08-11 17:19:16 [gen] step 1840: lag=4/593mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_1_tilt=9deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=68mm
+>> 08-11 17:19:57 [gen] step 1880: lag=5/593mm(med/max)  ORI=0deg  j4=79deg(sat0.05)  bottle_1_tilt=3deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=84mm
+>> 08-11 17:20:32 [gen] step 1920: lag=5/593mm(med/max)  ORI=0deg  j4=79deg(sat0.05)  bottle_1_tilt=27deg  eef->bottle_1=70mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:21:15 [gen] step 1960: lag=6/593mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_1_tilt=26deg  eef->bottle_1=55mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:21:50 [gen] step 2000: lag=0/593mm(med/max)  ORI=0deg  j4=70deg(sat0.10)  bottle_1_tilt=26deg  eef->bottle_1=52mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:22:28 [gen] step 2040: lag=19/593mm(med/max)  ORI=1deg  j4=73deg(sat0.08)  bottle_1_tilt=29deg  eef->bottle_1=5mm [grip]  bottle_1->pocket=101mm
+>> 08-11 17:23:04 [gen] step 2080: lag=9/593mm(med/max)  ORI=1deg  j4=70deg(sat0.10)  bottle_1_tilt=15deg  eef->bottle_1=3mm [grip]  bottle_1->pocket=102mm
+>> 08-11 17:23:29 [wpgen/press] push_seat_1: peak press force N  all med=8.33 max=65.28  CONTACT n=286/512 med=12.19 p90=21.20 max=65.28  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:23:43 [gen] step 2120: lag=9/593mm(med/max)  ORI=0deg  j4=77deg(sat0.06)  bottle_0_tilt=17deg  eef->bottle_0=137mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:27:13 [wpgen/progress] batch 3 (cube b1): 139/512 kept  running 321/400  (1536 rollouts)
+>> 08-11 17:27:34 [gen] step 2160: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_2_tilt=17deg  eef->bottle_2=373mm [----]  bottle_2->pocket=190mm
+>> 08-11 17:28:18 [gen] step 2200: lag=70/165mm(med/max)  ORI=1deg  j2=34deg(sat0.19)  bottle_2_tilt=17deg  eef->bottle_2=384mm [----]  bottle_2->pocket=190mm
+>> 08-11 17:28:53 [gen] step 2240: lag=22/176mm(med/max)  ORI=1deg  j4=52deg(sat0.21)  bottle_3_tilt=17deg  eef->bottle_3=158mm [----]  bottle_3->pocket=163mm
+>> 08-11 17:29:28 [gen] step 2280: lag=0/602mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_3_tilt=17deg  eef->bottle_3=110mm [----]  bottle_3->pocket=163mm
+>> 08-11 17:30:06 [gen] step 2320: lag=0/620mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_3_tilt=17deg  eef->bottle_3=110mm [----]  bottle_3->pocket=163mm
+>> 08-11 17:30:41 [gen] step 2360: lag=3/680mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_3_tilt=108deg  eef->bottle_3=23mm [grip]  bottle_3->pocket=162mm
+>> 08-11 17:31:19 [gen] step 2400: lag=1/680mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_3_tilt=108deg  eef->bottle_3=22mm [grip]  bottle_3->pocket=162mm
+>> 08-11 17:32:10 [gen] step 2440: lag=14/678mm(med/max)  ORI=0deg  j4=77deg(sat0.06)  bottle_3_tilt=108deg  eef->bottle_3=72mm [----]  bottle_3->pocket=162mm
+>> 08-11 17:32:45 [gen] step 2480: lag=20/678mm(med/max)  ORI=0deg  j4=85deg(sat0.01)  bottle_0_tilt=17deg  eef->bottle_0=129mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:33:22 [gen] step 2520: lag=12/678mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=125mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:33:57 [gen] step 2560: lag=4/678mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=125mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:34:39 [gen] step 2600: lag=10/678mm(med/max)  ORI=1deg  j4=82deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=108mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:35:14 [gen] step 2640: lag=5/678mm(med/max)  ORI=0deg  j4=80deg(sat0.05)  bottle_0_tilt=17deg  eef->bottle_0=42mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:35:56 [gen] step 2680: lag=8/678mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=56mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:36:34 [gen] step 2720: lag=3/678mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=56mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:37:11 [gen] step 2760: lag=12/678mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=56mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:37:46 [gen] step 2800: lag=18/678mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=56mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:38:23 [gen] step 2840: lag=1/678mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=56mm [----]  bottle_0->pocket=103mm
+>> 08-11 17:38:28 [wpgen/press] push_seat_3: peak press force N  all med=7.04 max=111.09  CONTACT n=290/512 med=11.50 p90=21.11 max=111.09  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:42:38 [wpgen/progress] batch 4 (cube b3): 141/512 kept  running 462/400  (2048 rollouts)
+>> 08-11 17:42:38 [wpgen/done] DONE (batched chunks): 462/400 kept in 2048 rollouts (4 batches of 512). success 462 | fail@[push_seat_2 140, place_bottle_2 252, motion:right_arm:j5_pos 42, grasp_bottle_2 24, place_bottle_0 257, push_seat_0 107, grasp_bottle_0 37, push_seat_1 136, place_bottle_1 198, grasp_bottle_1 28, place_bottle_3 205, push_seat_3 133, motion:right_arm:j6_pos 2, motion:right_arm:j6_cmd 5, grasp_bottle_3 17, motion:right_arm:j4_acc 1, motion:right_arm:j3_acc 1, motion:right_arm:j4_cmd 1]  (fail rate 1586/2048 = 77%)
+>> 08-11 17:42:38 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:42:38 [wpgen/done]     b0->s0:   17 [ 128,  13%]  b0->s1:   33 [ 128,  26%]  b0->s2:   22 [ 128,  17%]  b0->s3:   28 [ 128,  22%]   | b0 total  100
+>> 08-11 17:42:38 [wpgen/done]     b1->s0:   35 [ 128,  27%]  b1->s1:   40 [ 128,  31%]  b1->s2:   32 [ 128,  25%]  b1->s3:   32 [ 128,  25%]   | b1 total  139
+>> 08-11 17:42:38 [wpgen/done]     b2->s0:   24 [ 128,  19%]  b2->s1:   21 [ 128,  16%]  b2->s2:   21 [ 128,  16%]  b2->s3:   16 [ 128,  12%]   | b2 total   82
+>> 08-11 17:42:38 [wpgen/done]     b3->s0:   40 [ 128,  31%]  b3->s1:   42 [ 128,  33%]  b3->s2:   33 [ 128,  26%]  b3->s3:   26 [ 128,  20%]   | b3 total  141
+>> 08-11 17:42:38 [wpgen/done]     per-slot totals: s0= 116  s1= 136  s2= 108  s3= 102
+>> 08-11 17:42:38 [wpgen/done]     balance: min 16, max 42 per pair (2.6x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:45:01Z [18,689ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:45:01Z [18,693ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:42:39Z [3,476,059ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu1_failed.hdf5

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+size 957691504

insert_bottles/0807_1/gen/gpu2.hdf5

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+size 277896208

insert_bottles/0807_1/gen/gpu2.log

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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'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [96ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [399ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [562ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [572ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:53Z [10,687ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:53Z [10,687ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:53Z [10,687ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829494
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:56Z [13,068ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:56Z [13,076ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:56Z [13,076ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:56Z [13,076ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [13,156ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-08-11T16:45:04Z [21,065ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:04Z [21,065ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2827298
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:05Z [21,993ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2825663
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:06Z [22,950ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:45:06Z [22,954ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:45:06Z [23,059ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:06Z [23,060ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:06Z [23,063ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:45:06Z [23,071ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:06Z [23,071ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:06Z [23,081ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:06Z [23,081ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:06Z [23,083ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:45:06Z [23,581ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:45:06Z [23,618ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:06Z [23,618ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:45:06Z [23,623ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:06Z [23,623ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-07.log
+======================================================================================
+
+16:45:07 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 4.981999 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 2.166519 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:14 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:14 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:16 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:16 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:16 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:16 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:16 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:16 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:16 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:16 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:16 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:46:05 [gen] step 40: lag=34/41mm(med/max)  ORI=1deg  j2=17deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=399mm [----]  bottle_0->pocket=280mm
+>> 08-11 16:46:41 [gen] step 80: lag=21/298mm(med/max)  ORI=1deg  j5=38deg(sat0.29)  bottle_0_tilt=17deg  eef->bottle_0=392mm [----]  bottle_0->pocket=280mm
+>> 08-11 16:47:16 [gen] step 120: lag=2/692mm(med/max)  ORI=1deg  j4=59deg(sat0.17)  bottle_0_tilt=17deg  eef->bottle_0=165mm [----]  bottle_0->pocket=280mm
+>> 08-11 16:47:51 [gen] step 160: lag=0/575mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_0_tilt=17deg  eef->bottle_0=164mm [----]  bottle_0->pocket=280mm
+>> 08-11 16:48:28 [gen] step 200: lag=11/641mm(med/max)  ORI=0deg  j4=68deg(sat0.11)  bottle_0_tilt=17deg  eef->bottle_0=128mm [----]  bottle_0->pocket=280mm
+>> 08-11 16:49:05 [gen] step 240: lag=1/650mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_0_tilt=27deg  eef->bottle_0=14mm [grip]  bottle_0->pocket=275mm
+>> 08-11 16:49:43 [gen] step 280: lag=0/650mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_0_tilt=27deg  eef->bottle_0=14mm [grip]  bottle_0->pocket=275mm
+>> 08-11 16:50:29 [gen] step 320: lag=13/653mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_0_tilt=65deg  eef->bottle_0=109mm [----]  bottle_0->pocket=278mm
+>> 08-11 16:51:07 [gen] step 360: lag=23/653mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=152mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:51:43 [gen] step 400: lag=4/653mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_3_tilt=11deg  eef->bottle_3=32mm [grip]  bottle_3->pocket=100mm
+>> 08-11 16:52:23 [gen] step 440: lag=10/653mm(med/max)  ORI=0deg  j4=87deg(sat0.01)  bottle_3_tilt=11deg  eef->bottle_3=27mm [grip]  bottle_3->pocket=100mm
+>> 08-11 16:52:59 [gen] step 480: lag=7/653mm(med/max)  ORI=0deg  j4=88deg(sat-0.00)  bottle_3_tilt=11deg  eef->bottle_3=104mm [----]  bottle_3->pocket=100mm
+>> 08-11 16:53:42 [gen] step 520: lag=11/653mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:54:17 [gen] step 560: lag=2/653mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:54:54 [gen] step 600: lag=10/653mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:55:29 [gen] step 640: lag=18/653mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:56:07 [gen] step 680: lag=2/653mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=72mm [----]  bottle_1->pocket=91mm
+>> 08-11 16:56:14 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=66.37  CONTACT n=223/512 med=12.68 p90=24.46 max=66.37  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:59:05 [wpgen/progress] batch 1 (cube b0): 102/512 kept  running 102/400  (512 rollouts)
+>> 08-11 16:59:07 [gen] step 720: lag=7/7mm(med/max)  ORI=2deg  j2=2deg(sat0.01)  bottle_2_tilt=2deg  eef->bottle_2=332mm [----]  bottle_2->pocket=314mm
+>> 08-11 16:59:50 [gen] step 760: lag=43/52mm(med/max)  ORI=1deg  j2=18deg(sat0.10)  bottle_2_tilt=17deg  eef->bottle_2=412mm [----]  bottle_2->pocket=315mm
+>> 08-11 17:00:25 [gen] step 800: lag=20/321mm(med/max)  ORI=1deg  j3=-49deg(sat0.29)  bottle_2_tilt=17deg  eef->bottle_2=301mm [----]  bottle_2->pocket=315mm
+>> 08-11 17:01:00 [gen] step 840: lag=6/641mm(med/max)  ORI=1deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=49mm [----]  bottle_2->pocket=315mm
+>> 08-11 17:01:35 [gen] step 880: lag=0/612mm(med/max)  ORI=0deg  j4=71deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=41mm [----]  bottle_2->pocket=315mm
+>> 08-11 17:02:13 [gen] step 920: lag=11/683mm(med/max)  ORI=1deg  j4=87deg(sat0.01)  bottle_2_tilt=17deg  eef->bottle_2=42mm [----]  bottle_2->pocket=315mm
+>> 08-11 17:02:50 [gen] step 960: lag=1/677mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_2_tilt=16deg  eef->bottle_2=22mm [grip]  bottle_2->pocket=321mm
+>> 08-11 17:03:28 [gen] step 1000: lag=1/677mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_2_tilt=16deg  eef->bottle_2=22mm [grip]  bottle_2->pocket=320mm
+>> 08-11 17:04:16 [gen] step 1040: lag=14/680mm(med/max)  ORI=9deg  j4=88deg(sat-0.00)  bottle_2_tilt=12deg  eef->bottle_2=22mm [grip]  bottle_2->pocket=292mm
+>> 08-11 17:04:54 [gen] step 1080: lag=18/680mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_2_tilt=17deg  eef->bottle_2=22mm [grip]  bottle_2->pocket=139mm
+>> 08-11 17:05:30 [gen] step 1120: lag=4/680mm(med/max)  ORI=1deg  j4=78deg(sat0.06)  bottle_2_tilt=11deg  eef->bottle_2=22mm [grip]  bottle_2->pocket=103mm
+>> 08-11 17:06:12 [gen] step 1160: lag=8/680mm(med/max)  ORI=1deg  j4=66deg(sat0.13)  bottle_2_tilt=4deg  eef->bottle_2=22mm [grip]  bottle_2->pocket=119mm
+>> 08-11 17:06:49 [gen] step 1200: lag=7/680mm(med/max)  ORI=1deg  j4=65deg(sat0.13)  bottle_2_tilt=18deg  eef->bottle_2=11mm [----]  bottle_2->pocket=97mm
+>> 08-11 17:07:34 [gen] step 1240: lag=9/680mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_2_tilt=17deg  eef->bottle_2=55mm [----]  bottle_2->pocket=98mm
+>> 08-11 17:08:11 [gen] step 1280: lag=0/680mm(med/max)  ORI=0deg  j4=64deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=51mm [----]  bottle_2->pocket=99mm
+>> 08-11 17:08:49 [gen] step 1320: lag=16/680mm(med/max)  ORI=2deg  j4=65deg(sat0.13)  bottle_2_tilt=14deg  eef->bottle_2=6mm [grip]  bottle_2->pocket=99mm
+>> 08-11 17:09:31 [gen] step 1360: lag=9/680mm(med/max)  ORI=4deg  j4=62deg(sat0.15)  bottle_2_tilt=72deg  eef->bottle_2=20mm [grip]  bottle_2->pocket=103mm
+>> 08-11 17:10:02 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=128.35  CONTACT n=225/512 med=11.92 p90=21.03 max=128.35  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:10:09 [gen] step 1400: lag=0/680mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_2_tilt=100deg  eef->bottle_2=133mm [----]  bottle_2->pocket=101mm
+>> 08-11 17:13:30 [wpgen/progress] batch 2 (cube b2): 90/512 kept  running 192/400  (1024 rollouts)
+>> 08-11 17:13:44 [gen] step 1440: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=367mm [----]  bottle_0->pocket=224mm
+>> 08-11 17:14:28 [gen] step 1480: lag=89/124mm(med/max)  ORI=2deg  j2=24deg(sat0.14)  bottle_0_tilt=17deg  eef->bottle_0=398mm [----]  bottle_0->pocket=224mm
+>> 08-11 17:15:04 [gen] step 1520: lag=21/215mm(med/max)  ORI=1deg  j3=-48deg(sat0.28)  bottle_3_tilt=17deg  eef->bottle_3=208mm [----]  bottle_3->pocket=166mm
+>> 08-11 17:15:40 [gen] step 1560: lag=3/572mm(med/max)  ORI=0deg  j4=70deg(sat0.10)  bottle_3_tilt=17deg  eef->bottle_3=118mm [----]  bottle_3->pocket=166mm
+>> 08-11 17:16:15 [gen] step 1600: lag=0/597mm(med/max)  ORI=0deg  j4=70deg(sat0.10)  bottle_3_tilt=17deg  eef->bottle_3=118mm [----]  bottle_3->pocket=166mm
+>> 08-11 17:16:53 [gen] step 1640: lag=7/661mm(med/max)  ORI=1deg  j4=74deg(sat0.08)  bottle_3_tilt=25deg  eef->bottle_3=12mm [grip]  bottle_3->pocket=165mm
+>> 08-11 17:17:29 [gen] step 1680: lag=2/670mm(med/max)  ORI=1deg  j4=75deg(sat0.07)  bottle_3_tilt=47deg  eef->bottle_3=11mm [grip]  bottle_3->pocket=164mm
+>> 08-11 17:18:20 [gen] step 1720: lag=12/668mm(med/max)  ORI=0deg  j4=79deg(sat0.05)  bottle_3_tilt=47deg  eef->bottle_3=16mm [grip]  bottle_3->pocket=164mm
+>> 08-11 17:18:56 [gen] step 1760: lag=18/668mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_3_tilt=47deg  eef->bottle_3=161mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:19:31 [gen] step 1800: lag=19/668mm(med/max)  ORI=1deg  j4=78deg(sat0.06)  bottle_3_tilt=47deg  eef->bottle_3=270mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:20:08 [gen] step 1840: lag=5/668mm(med/max)  ORI=0deg  j4=70deg(sat0.10)  bottle_3_tilt=47deg  eef->bottle_3=261mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:20:48 [gen] step 1880: lag=9/668mm(med/max)  ORI=0deg  j4=75deg(sat0.07)  bottle_3_tilt=47deg  eef->bottle_3=234mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:21:25 [gen] step 1920: lag=6/668mm(med/max)  ORI=1deg  j4=73deg(sat0.09)  bottle_3_tilt=47deg  eef->bottle_3=250mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:22:08 [gen] step 1960: lag=10/668mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_3_tilt=47deg  eef->bottle_3=240mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:22:43 [gen] step 2000: lag=1/668mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_3_tilt=47deg  eef->bottle_3=240mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:23:23 [gen] step 2040: lag=11/668mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_3_tilt=47deg  eef->bottle_3=240mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:23:58 [gen] step 2080: lag=18/668mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_3_tilt=47deg  eef->bottle_3=240mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:24:34 [gen] step 2120: lag=1/668mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_3_tilt=47deg  eef->bottle_3=240mm [----]  bottle_3->pocket=164mm
+>> 08-11 17:24:38 [wpgen/press] push_seat_3: peak press force N  all med=7.61 max=71.45  CONTACT n=295/512 med=11.78 p90=21.43 max=71.45  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:28:48 [wpgen/progress] batch 3 (cube b3): 136/512 kept  running 328/400  (1536 rollouts)
+>> 08-11 17:28:52 [gen] step 2160: lag=74/74mm(med/max)  ORI=2deg  j2=12deg(sat0.07)  bottle_1_tilt=8deg  eef->bottle_1=361mm [----]  bottle_1->pocket=226mm
+>> 08-11 17:29:38 [gen] step 2200: lag=52/62mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=394mm [----]  bottle_1->pocket=225mm
+>> 08-11 17:30:13 [gen] step 2240: lag=23/139mm(med/max)  ORI=1deg  j2=25deg(sat0.14)  bottle_1_tilt=17deg  eef->bottle_1=186mm [----]  bottle_1->pocket=225mm
+>> 08-11 17:30:48 [gen] step 2280: lag=2/569mm(med/max)  ORI=0deg  j4=54deg(sat0.19)  bottle_1_tilt=17deg  eef->bottle_1=19mm [----]  bottle_1->pocket=225mm
+>> 08-11 17:31:25 [gen] step 2320: lag=0/1054mm(med/max)  ORI=0deg  j4=54deg(sat0.19)  bottle_1_tilt=17deg  eef->bottle_1=19mm [----]  bottle_1->pocket=225mm
+>> 08-11 17:32:03 [gen] step 2360: lag=11/548mm(med/max)  ORI=1deg  j4=49deg(sat0.22)  bottle_1_tilt=17deg  eef->bottle_1=23mm [----]  bottle_1->pocket=225mm
+>> 08-11 17:32:38 [gen] step 2400: lag=1/549mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=10mm [grip]  bottle_1->pocket=229mm
+>> 08-11 17:33:15 [gen] step 2440: lag=1/549mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=10mm [grip]  bottle_1->pocket=230mm
+>> 08-11 17:34:04 [gen] step 2480: lag=14/549mm(med/max)  ORI=0deg  j4=87deg(sat0.01)  bottle_1_tilt=17deg  eef->bottle_1=10mm [grip]  bottle_1->pocket=234mm
+>> 08-11 17:34:39 [gen] step 2520: lag=24/549mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=10deg  eef->bottle_1=10mm [grip]  bottle_1->pocket=103mm
+>> 08-11 17:35:16 [gen] step 2560: lag=5/549mm(med/max)  ORI=0deg  j4=88deg(sat-0.00)  bottle_1_tilt=9deg  eef->bottle_1=10mm [grip]  bottle_1->pocket=93mm
+>> 08-11 17:35:55 [gen] step 2600: lag=10/549mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_2_tilt=17deg  eef->bottle_2=10mm [grip]  bottle_2->pocket=91mm
+>> 08-11 17:36:32 [gen] step 2640: lag=5/549mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=14deg  eef->bottle_1=10mm [grip]  bottle_1->pocket=89mm
+>> 08-11 17:37:15 [gen] step 2680: lag=11/549mm(med/max)  ORI=4deg  j4=88deg(sat-0.00)  bottle_1_tilt=31deg  eef->bottle_1=91mm [----]  bottle_1->pocket=89mm
+>> 08-11 17:37:50 [gen] step 2720: lag=1/549mm(med/max)  ORI=0deg  j4=86deg(sat0.01)  bottle_1_tilt=31deg  eef->bottle_1=25mm [grip]  bottle_1->pocket=89mm
+>> 08-11 17:38:29 [gen] step 2760: lag=14/549mm(med/max)  ORI=1deg  j4=87deg(sat0.00)  bottle_1_tilt=26deg  eef->bottle_1=3mm [grip]  bottle_1->pocket=90mm
+>> 08-11 17:39:05 [gen] step 2800: lag=17/549mm(med/max)  ORI=5deg  j4=80deg(sat0.04)  bottle_1_tilt=28deg  eef->bottle_1=13mm [grip]  bottle_1->pocket=89mm
+>> 08-11 17:39:40 [gen] step 2840: lag=1/549mm(med/max)  ORI=0deg  j4=80deg(sat0.05)  bottle_1_tilt=33deg  eef->bottle_1=55mm [----]  bottle_1->pocket=90mm
+>> 08-11 17:39:45 [wpgen/press] push_seat_1: peak press force N  all med=6.89 max=99.47  CONTACT n=274/512 med=11.94 p90=22.29 max=99.47  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:44:14 [wpgen/progress] batch 4 (cube b1): 142/512 kept  running 470/400  (2048 rollouts)
+>> 08-11 17:44:14 [wpgen/done] DONE (batched chunks): 470/400 kept in 2048 rollouts (4 batches of 512). success 470 | fail@[place_bottle_0 248, push_seat_0 113, grasp_bottle_0 41, motion:right_arm:j5_pos 48, push_seat_2 125, place_bottle_2 263, grasp_bottle_2 20, motion:right_arm:j2_cmd 1, place_bottle_3 195, push_seat_3 147, grasp_bottle_3 19, motion:right_arm:j6_pos 3, motion:right_arm:j6_cmd 3, push_seat_1 117, place_bottle_1 207, grasp_bottle_1 28]  (fail rate 1578/2048 = 77%)
+>> 08-11 17:44:14 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:44:14 [wpgen/done]     b0->s0:   27 [ 128,  21%]  b0->s1:   25 [ 128,  20%]  b0->s2:   24 [ 128,  19%]  b0->s3:   26 [ 128,  20%]   | b0 total  102
+>> 08-11 17:44:14 [wpgen/done]     b1->s0:   39 [ 128,  30%]  b1->s1:   38 [ 128,  30%]  b1->s2:   35 [ 128,  27%]  b1->s3:   30 [ 128,  23%]   | b1 total  142
+>> 08-11 17:44:14 [wpgen/done]     b2->s0:   31 [ 128,  24%]  b2->s1:   17 [ 128,  13%]  b2->s2:   22 [ 128,  17%]  b2->s3:   20 [ 128,  16%]   | b2 total   90
+>> 08-11 17:44:14 [wpgen/done]     b3->s0:   47 [ 128,  37%]  b3->s1:   41 [ 128,  32%]  b3->s2:   27 [ 128,  21%]  b3->s3:   21 [ 128,  16%]   | b3 total  136
+>> 08-11 17:44:14 [wpgen/done]     per-slot totals: s0= 144  s1= 121  s2= 108  s3=  97
+>> 08-11 17:44:14 [wpgen/done]     balance: min 17, max 47 per pair (2.8x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:45:07Z [23,808ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:45:07Z [23,812ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:44:15Z [3,571,994ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu2_failed.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764e248bd25f75e123e34a70c9e99968721f9c31346bf79ea402018fb1c93645
+size 953591774

insert_bottles/0807_1/gen/gpu3.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bf11fc498ddbd10d373c2510bff59501dcbfd5b9c73570d11d5b74b0f409763
+size 288279775

insert_bottles/0807_1/gen/gpu3.log

@@ -0,0 +1,329 @@
+
+Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [105ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [420ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [575ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [585ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:53Z [10,692ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:53Z [10,692ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:53Z [10,692ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829591
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:56Z [13,221ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:56Z [13,229ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:56Z [13,229ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:56Z [13,229ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [13,272ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-08-11T16:45:12Z [28,900ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:12Z [28,900ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2817697
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:13Z [29,835ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2816122
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:13Z [30,773ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:45:14Z [30,779ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:45:14Z [30,882ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:14Z [30,882ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:14Z [30,886ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:45:14Z [30,894ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:14Z [30,894ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:14Z [30,904ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:14Z [30,904ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:14Z [30,905ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:45:14Z [31,444ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:45:14Z [31,492ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:14Z [31,492ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:45:14Z [31,499ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:14Z [31,499ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-14.log
+======================================================================================
+
+16:45:14 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 5.316819 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 1.976822 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:22 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:22 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:24 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:24 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:24 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:24 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:24 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:24 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:24 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:24 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:24 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:46:10 [gen] step 40: lag=34/41mm(med/max)  ORI=1deg  j2=17deg(sat0.09)  bottle_1_tilt=47deg  eef->bottle_1=376mm [----]  bottle_1->pocket=196mm
+>> 08-11 16:46:43 [gen] step 80: lag=23/294mm(med/max)  ORI=1deg  j4=61deg(sat0.15)  bottle_1_tilt=47deg  eef->bottle_1=204mm [----]  bottle_1->pocket=196mm
+>> 08-11 16:47:17 [gen] step 120: lag=4/540mm(med/max)  ORI=9deg  j4=88deg(sat0.00)  bottle_1_tilt=47deg  eef->bottle_1=37mm [----]  bottle_1->pocket=196mm
+>> 08-11 16:47:50 [gen] step 160: lag=0/877mm(med/max)  ORI=10deg  j4=88deg(sat0.00)  bottle_1_tilt=47deg  eef->bottle_1=37mm [----]  bottle_1->pocket=196mm
+>> 08-11 16:48:25 [gen] step 200: lag=11/547mm(med/max)  ORI=8deg  j4=88deg(sat0.00)  bottle_1_tilt=47deg  eef->bottle_1=34mm [----]  bottle_1->pocket=196mm
+>> 08-11 16:49:00 [gen] step 240: lag=1/567mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:49:35 [gen] step 280: lag=1/567mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:50:20 [gen] step 320: lag=15/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:50:55 [gen] step 360: lag=24/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:51:30 [gen] step 400: lag=8/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:52:10 [gen] step 440: lag=10/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:52:44 [gen] step 480: lag=6/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:53:29 [gen] step 520: lag=5/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:54:03 [gen] step 560: lag=3/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:54:39 [gen] step 600: lag=9/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:55:14 [gen] step 640: lag=23/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:55:53 [gen] step 680: lag=2/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:56:02 [wpgen/press] push_seat_1: peak press force N  all med=0.46 max=205.97  CONTACT n=259/512 med=11.93 p90=22.44 max=205.97  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:56:30 [gen] step 720: lag=3/566mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=47deg  eef->bottle_1=41mm [grip]  bottle_1->pocket=196mm
+>> 08-11 16:58:55 [wpgen/progress] batch 1 (cube b1): 118/512 kept  running 118/400  (512 rollouts)
+>> 08-11 16:59:35 [gen] step 760: lag=30/36mm(med/max)  ORI=0deg  j2=17deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=378mm [----]  bottle_2->pocket=242mm
+>> 08-11 17:00:08 [gen] step 800: lag=24/274mm(med/max)  ORI=2deg  j4=53deg(sat0.20)  bottle_2_tilt=17deg  eef->bottle_2=205mm [----]  bottle_2->pocket=242mm
+>> 08-11 17:00:42 [gen] step 840: lag=8/689mm(med/max)  ORI=0deg  j4=71deg(sat0.10)  bottle_2_tilt=17deg  eef->bottle_2=110mm [----]  bottle_2->pocket=242mm
+>> 08-11 17:01:16 [gen] step 880: lag=0/572mm(med/max)  ORI=0deg  j4=71deg(sat0.10)  bottle_2_tilt=17deg  eef->bottle_2=110mm [----]  bottle_2->pocket=242mm
+>> 08-11 17:01:52 [gen] step 920: lag=11/605mm(med/max)  ORI=0deg  j4=66deg(sat0.13)  bottle_2_tilt=17deg  eef->bottle_2=83mm [----]  bottle_2->pocket=242mm
+>> 08-11 17:02:27 [gen] step 960: lag=1/613mm(med/max)  ORI=0deg  j4=53deg(sat0.20)  bottle_2_tilt=17deg  eef->bottle_2=27mm [grip]  bottle_2->pocket=251mm
+>> 08-11 17:03:02 [gen] step 1000: lag=1/613mm(med/max)  ORI=0deg  j4=53deg(sat0.20)  bottle_2_tilt=17deg  eef->bottle_2=26mm [grip]  bottle_2->pocket=251mm
+>> 08-11 17:03:48 [gen] step 1040: lag=15/615mm(med/max)  ORI=0deg  j4=78deg(sat0.06)  bottle_2_tilt=17deg  eef->bottle_2=110mm [----]  bottle_2->pocket=251mm
+>> 08-11 17:04:23 [gen] step 1080: lag=18/615mm(med/max)  ORI=0deg  j4=87deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=138mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:05:02 [gen] step 1120: lag=5/615mm(med/max)  ORI=0deg  j4=82deg(sat0.03)  bottle_1_tilt=17deg  eef->bottle_1=109mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:05:39 [gen] step 1160: lag=9/615mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:06:17 [gen] step 1200: lag=6/615mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=32mm [----]  bottle_1->pocket=101mm
+>> 08-11 17:06:56 [gen] step 1240: lag=9/615mm(med/max)  ORI=0deg  j4=81deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=43mm [grip]  bottle_1->pocket=101mm
+>> 08-11 17:07:30 [gen] step 1280: lag=1/615mm(med/max)  ORI=0deg  j4=81deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=43mm [grip]  bottle_1->pocket=101mm
+>> 08-11 17:08:08 [gen] step 1320: lag=15/615mm(med/max)  ORI=0deg  j4=81deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=43mm [grip]  bottle_1->pocket=101mm
+>> 08-11 17:08:42 [gen] step 1360: lag=12/615mm(med/max)  ORI=0deg  j4=81deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=43mm [grip]  bottle_1->pocket=101mm
+>> 08-11 17:09:15 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=67.85  CONTACT n=232/512 med=12.33 p90=24.37 max=67.85  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:09:16 [gen] step 1400: lag=0/615mm(med/max)  ORI=0deg  j4=81deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=43mm [grip]  bottle_1->pocket=101mm
+>> 08-11 17:12:35 [wpgen/progress] batch 2 (cube b2): 113/512 kept  running 231/400  (1024 rollouts)
+>> 08-11 17:12:45 [gen] step 1440: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_3_tilt=17deg  eef->bottle_3=398mm [----]  bottle_3->pocket=269mm
+>> 08-11 17:13:27 [gen] step 1480: lag=77/100mm(med/max)  ORI=2deg  j2=25deg(sat0.14)  bottle_3_tilt=17deg  eef->bottle_3=418mm [----]  bottle_3->pocket=269mm
+>> 08-11 17:14:01 [gen] step 1520: lag=22/182mm(med/max)  ORI=2deg  j5=-39deg(sat0.28)  bottle_3_tilt=17deg  eef->bottle_3=243mm [----]  bottle_3->pocket=269mm
+>> 08-11 17:14:34 [gen] step 1560: lag=6/536mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=114mm [----]  bottle_3->pocket=269mm
+>> 08-11 17:15:07 [gen] step 1600: lag=0/601mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=90mm [----]  bottle_3->pocket=269mm
+>> 08-11 17:15:43 [gen] step 1640: lag=6/666mm(med/max)  ORI=1deg  j4=77deg(sat0.06)  bottle_3_tilt=17deg  eef->bottle_3=15mm [grip]  bottle_3->pocket=269mm
+>> 08-11 17:16:18 [gen] step 1680: lag=2/674mm(med/max)  ORI=1deg  j4=76deg(sat0.07)  bottle_3_tilt=17deg  eef->bottle_3=15mm [grip]  bottle_3->pocket=266mm
+>> 08-11 17:17:06 [gen] step 1720: lag=13/672mm(med/max)  ORI=0deg  j4=82deg(sat0.03)  bottle_3_tilt=18deg  eef->bottle_3=15mm [grip]  bottle_3->pocket=269mm
+>> 08-11 17:17:41 [gen] step 1760: lag=17/672mm(med/max)  ORI=5deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=15mm [grip]  bottle_3->pocket=174mm
+>> 08-11 17:18:14 [gen] step 1800: lag=20/672mm(med/max)  ORI=8deg  j4=88deg(sat0.00)  bottle_3_tilt=10deg  eef->bottle_3=15mm [grip]  bottle_3->pocket=114mm
+>> 08-11 17:18:49 [gen] step 1840: lag=5/672mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=9deg  eef->bottle_3=15mm [grip]  bottle_3->pocket=122mm
+>> 08-11 17:19:26 [gen] step 1880: lag=10/672mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_3_tilt=10deg  eef->bottle_3=15mm [grip]  bottle_3->pocket=110mm
+>> 08-11 17:20:00 [gen] step 1920: lag=7/672mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_3_tilt=16deg  eef->bottle_3=21mm [----]  bottle_3->pocket=73mm
+>> 08-11 17:20:41 [gen] step 1960: lag=10/672mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_3_tilt=16deg  eef->bottle_3=76mm [----]  bottle_3->pocket=73mm
+>> 08-11 17:21:15 [gen] step 2000: lag=1/672mm(med/max)  ORI=0deg  j4=86deg(sat0.01)  bottle_1_tilt=17deg  eef->bottle_1=42mm [grip]  bottle_1->pocket=102mm
+>> 08-11 17:21:51 [gen] step 2040: lag=6/672mm(med/max)  ORI=1deg  j4=87deg(sat0.00)  bottle_3_tilt=16deg  eef->bottle_3=16mm [grip]  bottle_3->pocket=73mm
+>> 08-11 17:22:30 [gen] step 2080: lag=25/672mm(med/max)  ORI=6deg  j4=79deg(sat0.05)  bottle_3_tilt=34deg  eef->bottle_3=12mm [grip]  bottle_3->pocket=73mm
+>> 08-11 17:23:04 [gen] step 2120: lag=2/672mm(med/max)  ORI=1deg  j4=82deg(sat0.04)  bottle_2_tilt=17deg  eef->bottle_2=40mm [grip]  bottle_2->pocket=91mm
+>> 08-11 17:23:16 [wpgen/press] push_seat_3: peak press force N  all med=8.61 max=242.01  CONTACT n=299/512 med=12.57 p90=23.74 max=242.01  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:23:39 [gen] step 2160: lag=5/672mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=17deg  eef->bottle_2=53mm [----]  bottle_2->pocket=91mm
+>> 08-11 17:27:13 [wpgen/progress] batch 3 (cube b3): 147/512 kept  running 378/400  (1536 rollouts)
+>> 08-11 17:27:51 [gen] step 2200: lag=9/10mm(med/max)  ORI=0deg  j2=15deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=370mm [----]  bottle_0->pocket=229mm
+>> 08-11 17:28:25 [gen] step 2240: lag=21/205mm(med/max)  ORI=2deg  j3=-37deg(sat0.22)  bottle_2_tilt=17deg  eef->bottle_2=246mm [----]  bottle_2->pocket=172mm
+>> 08-11 17:28:58 [gen] step 2280: lag=8/696mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_2_tilt=17deg  eef->bottle_2=85mm [----]  bottle_2->pocket=172mm
+>> 08-11 17:29:32 [gen] step 2320: lag=0/534mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_2_tilt=17deg  eef->bottle_2=87mm [----]  bottle_2->pocket=172mm
+>> 08-11 17:30:09 [gen] step 2360: lag=11/592mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_2_tilt=17deg  eef->bottle_2=75mm [----]  bottle_2->pocket=172mm
+>> 08-11 17:30:45 [gen] step 2400: lag=1/608mm(med/max)  ORI=0deg  j4=59deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=29mm [grip]  bottle_0->pocket=241mm
+>> 08-11 17:31:20 [gen] step 2440: lag=0/608mm(med/max)  ORI=0deg  j4=59deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=29mm [grip]  bottle_0->pocket=241mm
+>> 08-11 17:32:06 [gen] step 2480: lag=11/606mm(med/max)  ORI=0deg  j4=82deg(sat0.03)  bottle_0_tilt=17deg  eef->bottle_0=111mm [----]  bottle_0->pocket=241mm
+>> 08-11 17:32:42 [gen] step 2520: lag=21/606mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_2_tilt=17deg  eef->bottle_2=170mm [----]  bottle_2->pocket=172mm
+>> 08-11 17:33:16 [gen] step 2560: lag=4/606mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=10deg  eef->bottle_3=135mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:33:57 [gen] step 2600: lag=8/606mm(med/max)  ORI=1deg  j4=68deg(sat0.11)  bottle_3_tilt=10deg  eef->bottle_3=105mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:34:31 [gen] step 2640: lag=7/606mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=10deg  eef->bottle_3=128mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:35:11 [gen] step 2680: lag=8/606mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=10deg  eef->bottle_3=128mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:35:49 [gen] step 2720: lag=0/606mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=10deg  eef->bottle_3=128mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:36:24 [gen] step 2760: lag=15/606mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=10deg  eef->bottle_3=128mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:36:59 [gen] step 2800: lag=9/606mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=10deg  eef->bottle_3=128mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:37:32 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=96.70  CONTACT n=213/512 med=12.74 p90=23.88 max=96.70  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:37:39 [gen] step 2840: lag=0/606mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=10deg  eef->bottle_3=128mm [----]  bottle_3->pocket=102mm
+>> 08-11 17:41:41 [wpgen/progress] batch 4 (cube b0): 110/512 kept  running 488/400  (2048 rollouts)
+>> 08-11 17:41:41 [wpgen/done] DONE (batched chunks): 488/400 kept in 2048 rollouts (4 batches of 512). success 488 | fail@[grasp_bottle_1 25, place_bottle_1 230, push_seat_1 128, motion:right_arm:j5_pos 31, place_bottle_2 266, push_seat_2 111, grasp_bottle_2 13, push_seat_3 140, place_bottle_3 196, grasp_bottle_3 16, motion:right_arm:j6_pos 2, motion:right_arm:j6_cmd 6, place_bottle_0 268, grasp_bottle_0 30, push_seat_0 97, motion:right_arm:j5_cmd 1]  (fail rate 1560/2048 = 76%)
+>> 08-11 17:41:41 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:41:41 [wpgen/done]     b0->s0:   18 [ 128,  14%]  b0->s1:   34 [ 128,  27%]  b0->s2:   26 [ 128,  20%]  b0->s3:   32 [ 128,  25%]   | b0 total  110
+>> 08-11 17:41:41 [wpgen/done]     b1->s0:   39 [ 128,  30%]  b1->s1:   24 [ 128,  19%]  b1->s2:   24 [ 128,  19%]  b1->s3:   31 [ 128,  24%]   | b1 total  118
+>> 08-11 17:41:41 [wpgen/done]     b2->s0:   26 [ 128,  20%]  b2->s1:   34 [ 128,  27%]  b2->s2:   27 [ 128,  21%]  b2->s3:   26 [ 128,  20%]   | b2 total  113
+>> 08-11 17:41:41 [wpgen/done]     b3->s0:   36 [ 128,  28%]  b3->s1:   44 [ 128,  34%]  b3->s2:   38 [ 128,  30%]  b3->s3:   29 [ 128,  23%]   | b3 total  147
+>> 08-11 17:41:41 [wpgen/done]     per-slot totals: s0= 119  s1= 136  s2= 115  s3= 118
+>> 08-11 17:41:41 [wpgen/done]     balance: min 18, max 44 per pair (2.4x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:45:14Z [31,692ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:45:14Z [31,695ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:41:42Z [3,419,364ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu3_failed.hdf5

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+size 939986909

insert_bottles/0807_1/gen/gpu4.hdf5

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+version https://git-lfs.github.com/spec/v1
+oid sha256:5355a1d0475e10650cceec584dc7d777a29de90e7dd57d2352032eeb0f962904
+size 276083113

insert_bottles/0807_1/gen/gpu4.log

@@ -0,0 +1,329 @@
+
+Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [93ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [427ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [558ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [568ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:53Z [10,708ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:53Z [10,708ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:53Z [10,708ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829491
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:56Z [13,042ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:56Z [13,048ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:56Z [13,048ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:56Z [13,048ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [13,131ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-08-11T16:45:01Z [18,549ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:01Z [18,549ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2828374
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:02Z [19,477ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2827983
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:03Z [20,395ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:45:03Z [20,399ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:45:03Z [20,495ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:03Z [20,495ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:03Z [20,499ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:45:03Z [20,507ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:03Z [20,507ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:03Z [20,516ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:03Z [20,516ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:03Z [20,518ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:45:04Z [21,000ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:45:04Z [21,037ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:04Z [21,037ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:45:04Z [21,042ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:04Z [21,042ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-04.log
+======================================================================================
+
+16:45:04 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 5.147119 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 2.000880 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:12 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:12 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:13 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:13 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:13 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:13 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:13 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:13 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:13 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:13 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:13 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:46:02 [gen] step 40: lag=34/41mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=379mm [----]  bottle_0->pocket=222mm
+>> 08-11 16:46:37 [gen] step 80: lag=23/275mm(med/max)  ORI=3deg  j5=63deg(sat0.15)  bottle_2_tilt=17deg  eef->bottle_2=250mm [----]  bottle_2->pocket=194mm
+>> 08-11 16:47:11 [gen] step 120: lag=7/751mm(med/max)  ORI=1deg  j4=55deg(sat0.19)  bottle_2_tilt=17deg  eef->bottle_2=53mm [----]  bottle_2->pocket=193mm
+>> 08-11 16:47:45 [gen] step 160: lag=0/941mm(med/max)  ORI=0deg  j4=53deg(sat0.20)  bottle_2_tilt=17deg  eef->bottle_2=41mm [----]  bottle_2->pocket=193mm
+>> 08-11 16:48:22 [gen] step 200: lag=12/632mm(med/max)  ORI=1deg  j4=55deg(sat0.19)  bottle_2_tilt=17deg  eef->bottle_2=38mm [----]  bottle_2->pocket=193mm
+>> 08-11 16:48:58 [gen] step 240: lag=1/629mm(med/max)  ORI=0deg  j4=57deg(sat0.17)  bottle_2_tilt=17deg  eef->bottle_2=16mm [grip]  bottle_2->pocket=197mm
+>> 08-11 16:49:34 [gen] step 280: lag=1/629mm(med/max)  ORI=0deg  j4=57deg(sat0.17)  bottle_2_tilt=17deg  eef->bottle_2=16mm [grip]  bottle_2->pocket=197mm
+>> 08-11 16:50:20 [gen] step 320: lag=14/632mm(med/max)  ORI=0deg  j4=85deg(sat0.02)  bottle_2_tilt=17deg  eef->bottle_2=16mm [grip]  bottle_2->pocket=219mm
+>> 08-11 16:50:58 [gen] step 360: lag=19/632mm(med/max)  ORI=1deg  j4=82deg(sat0.04)  bottle_2_tilt=14deg  eef->bottle_2=16mm [grip]  bottle_2->pocket=136mm
+>> 08-11 16:51:33 [gen] step 400: lag=4/632mm(med/max)  ORI=0deg  j4=73deg(sat0.09)  bottle_2_tilt=9deg  eef->bottle_2=16mm [grip]  bottle_2->pocket=111mm
+>> 08-11 16:52:12 [gen] step 440: lag=9/632mm(med/max)  ORI=1deg  j4=63deg(sat0.14)  bottle_2_tilt=3deg  eef->bottle_2=16mm [grip]  bottle_2->pocket=96mm
+>> 08-11 16:52:47 [gen] step 480: lag=5/632mm(med/max)  ORI=0deg  j4=59deg(sat0.16)  bottle_2_tilt=24deg  eef->bottle_2=3mm [----]  bottle_2->pocket=101mm
+>> 08-11 16:53:30 [gen] step 520: lag=11/632mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_2_tilt=17deg  eef->bottle_2=70mm [----]  bottle_2->pocket=103mm
+>> 08-11 16:54:04 [gen] step 560: lag=1/632mm(med/max)  ORI=0deg  j4=57deg(sat0.18)  bottle_2_tilt=17deg  eef->bottle_2=55mm [----]  bottle_2->pocket=103mm
+>> 08-11 16:54:42 [gen] step 600: lag=13/632mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_2_tilt=17deg  eef->bottle_2=11mm [grip]  bottle_2->pocket=103mm
+>> 08-11 16:55:17 [gen] step 640: lag=14/632mm(med/max)  ORI=4deg  j4=56deg(sat0.18)  bottle_2_tilt=8deg  eef->bottle_2=6mm [grip]  bottle_2->pocket=102mm
+>> 08-11 16:55:57 [gen] step 680: lag=0/632mm(med/max)  ORI=1deg  j4=61deg(sat0.15)  bottle_2_tilt=17deg  eef->bottle_2=115mm [----]  bottle_2->pocket=102mm
+>> 08-11 16:55:59 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=140.10  CONTACT n=224/512 med=12.54 p90=24.01 max=140.10  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:58:51 [wpgen/progress] batch 1 (cube b2): 83/512 kept  running 83/400  (512 rollouts)
+>> 08-11 16:58:57 [gen] step 720: lag=90/90mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=21deg  eef->bottle_0=380mm [----]  bottle_0->pocket=171mm
+>> 08-11 16:59:40 [gen] step 760: lag=62/78mm(med/max)  ORI=1deg  j2=16deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=395mm [----]  bottle_0->pocket=171mm
+>> 08-11 17:00:14 [gen] step 800: lag=21/467mm(med/max)  ORI=1deg  j4=64deg(sat0.13)  bottle_0_tilt=17deg  eef->bottle_0=218mm [----]  bottle_0->pocket=171mm
+>> 08-11 17:00:49 [gen] step 840: lag=0/765mm(med/max)  ORI=0deg  j4=78deg(sat0.06)  bottle_0_tilt=17deg  eef->bottle_0=96mm [----]  bottle_0->pocket=171mm
+>> 08-11 17:01:23 [gen] step 880: lag=0/593mm(med/max)  ORI=0deg  j4=78deg(sat0.06)  bottle_0_tilt=17deg  eef->bottle_0=96mm [----]  bottle_0->pocket=171mm
+>> 08-11 17:02:00 [gen] step 920: lag=12/619mm(med/max)  ORI=1deg  j4=76deg(sat0.07)  bottle_0_tilt=17deg  eef->bottle_0=75mm [----]  bottle_0->pocket=171mm
+>> 08-11 17:02:36 [gen] step 960: lag=1/629mm(med/max)  ORI=0deg  j4=75deg(sat0.07)  bottle_0_tilt=17deg  eef->bottle_0=21mm [grip]  bottle_0->pocket=166mm
+>> 08-11 17:03:14 [gen] step 1000: lag=0/629mm(med/max)  ORI=0deg  j4=75deg(sat0.07)  bottle_0_tilt=17deg  eef->bottle_0=21mm [grip]  bottle_0->pocket=166mm
+>> 08-11 17:04:01 [gen] step 1040: lag=15/627mm(med/max)  ORI=5deg  j4=88deg(sat0.00)  bottle_0_tilt=13deg  eef->bottle_0=21mm [grip]  bottle_0->pocket=199mm
+>> 08-11 17:04:39 [gen] step 1080: lag=22/627mm(med/max)  ORI=12deg  j4=88deg(sat0.00)  bottle_0_tilt=6deg  eef->bottle_0=21mm [grip]  bottle_0->pocket=109mm
+>> 08-11 17:05:14 [gen] step 1120: lag=4/627mm(med/max)  ORI=4deg  j4=88deg(sat-0.00)  bottle_0_tilt=8deg  eef->bottle_0=21mm [grip]  bottle_0->pocket=117mm
+>> 08-11 17:05:55 [gen] step 1160: lag=8/627mm(med/max)  ORI=7deg  j4=88deg(sat0.00)  bottle_0_tilt=10deg  eef->bottle_0=21mm [grip]  bottle_0->pocket=75mm
+>> 08-11 17:06:32 [gen] step 1200: lag=7/627mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=43mm [----]  bottle_1->pocket=102mm
+>> 08-11 17:07:19 [gen] step 1240: lag=10/627mm(med/max)  ORI=5deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=86mm [----]  bottle_1->pocket=102mm
+>> 08-11 17:07:55 [gen] step 1280: lag=0/627mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_2_tilt=17deg  eef->bottle_2=29mm [grip]  bottle_2->pocket=91mm
+>> 08-11 17:08:33 [gen] step 1320: lag=16/627mm(med/max)  ORI=4deg  j4=86deg(sat0.01)  bottle_0_tilt=108deg  eef->bottle_0=17mm [grip]  bottle_0->pocket=28mm
+>> 08-11 17:09:09 [gen] step 1360: lag=13/627mm(med/max)  ORI=3deg  j4=84deg(sat0.03)  bottle_0_tilt=137deg  eef->bottle_0=27mm [grip]  bottle_0->pocket=31mm
+>> 08-11 17:09:49 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=66.57  CONTACT n=224/512 med=13.07 p90=23.00 max=66.57  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:09:50 [gen] step 1400: lag=0/627mm(med/max)  ORI=0deg  j4=87deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=26mm [grip]  bottle_1->pocket=102mm
+>> 08-11 17:13:12 [wpgen/progress] batch 2 (cube b0): 102/512 kept  running 185/400  (1024 rollouts)
+>> 08-11 17:13:21 [gen] step 1440: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=361mm [----]  bottle_0->pocket=247mm
+>> 08-11 17:14:03 [gen] step 1480: lag=73/95mm(med/max)  ORI=1deg  j2=15deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=390mm [----]  bottle_0->pocket=247mm
+>> 08-11 17:14:37 [gen] step 1520: lag=22/528mm(med/max)  ORI=1deg  j4=78deg(sat0.06)  bottle_1_tilt=17deg  eef->bottle_1=287mm [----]  bottle_1->pocket=331mm
+>> 08-11 17:15:11 [gen] step 1560: lag=0/542mm(med/max)  ORI=0deg  j4=81deg(sat0.04)  bottle_1_tilt=17deg  eef->bottle_1=115mm [----]  bottle_1->pocket=331mm
+>> 08-11 17:15:45 [gen] step 1600: lag=0/897mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_1_tilt=17deg  eef->bottle_1=110mm [----]  bottle_1->pocket=331mm
+>> 08-11 17:16:22 [gen] step 1640: lag=11/1029mm(med/max)  ORI=0deg  j4=70deg(sat0.10)  bottle_1_tilt=17deg  eef->bottle_1=53mm [----]  bottle_1->pocket=331mm
+>> 08-11 17:16:58 [gen] step 1680: lag=1/868mm(med/max)  ORI=0deg  j4=57deg(sat0.18)  bottle_1_tilt=17deg  eef->bottle_1=22mm [grip]  bottle_1->pocket=323mm
+>> 08-11 17:17:35 [gen] step 1720: lag=4/874mm(med/max)  ORI=0deg  j4=56deg(sat0.18)  bottle_1_tilt=18deg  eef->bottle_1=22mm [grip]  bottle_1->pocket=322mm
+>> 08-11 17:18:24 [gen] step 1760: lag=15/874mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_1_tilt=17deg  eef->bottle_1=119mm [----]  bottle_1->pocket=321mm
+>> 08-11 17:18:58 [gen] step 1800: lag=24/875mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=154mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:19:36 [gen] step 1840: lag=4/875mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=53mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:20:14 [gen] step 1880: lag=8/875mm(med/max)  ORI=0deg  j4=86deg(sat0.01)  bottle_3_tilt=17deg  eef->bottle_3=36mm [grip]  bottle_3->pocket=91mm
+>> 08-11 17:20:49 [gen] step 1920: lag=6/875mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=77mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:21:32 [gen] step 1960: lag=11/875mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=84mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:22:06 [gen] step 2000: lag=1/875mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=84mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:22:43 [gen] step 2040: lag=11/875mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=84mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:23:23 [gen] step 2080: lag=22/875mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=84mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:23:58 [gen] step 2120: lag=1/875mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=84mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:24:02 [wpgen/press] push_seat_1: peak press force N  all med=7.80 max=155.89  CONTACT n=277/512 med=12.18 p90=24.59 max=155.89  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:27:55 [wpgen/progress] batch 3 (cube b1): 137/512 kept  running 322/400  (1536 rollouts)
+>> 08-11 17:28:00 [gen] step 2160: lag=84/84mm(med/max)  ORI=2deg  j2=13deg(sat0.07)  bottle_3_tilt=15deg  eef->bottle_3=354mm [----]  bottle_3->pocket=265mm
+>> 08-11 17:28:43 [gen] step 2200: lag=56/68mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_3_tilt=17deg  eef->bottle_3=382mm [----]  bottle_3->pocket=264mm
+>> 08-11 17:29:18 [gen] step 2240: lag=27/181mm(med/max)  ORI=2deg  j4=71deg(sat0.10)  bottle_2_tilt=17deg  eef->bottle_2=242mm [----]  bottle_2->pocket=257mm
+>> 08-11 17:29:53 [gen] step 2280: lag=17/304mm(med/max)  ORI=0deg  j4=76deg(sat0.07)  bottle_2_tilt=17deg  eef->bottle_2=110mm [----]  bottle_2->pocket=257mm
+>> 08-11 17:30:30 [gen] step 2320: lag=12/597mm(med/max)  ORI=0deg  j4=71deg(sat0.10)  bottle_2_tilt=17deg  eef->bottle_2=71mm [----]  bottle_2->pocket=257mm
+>> 08-11 17:31:05 [gen] step 2360: lag=2/671mm(med/max)  ORI=0deg  j4=58deg(sat0.17)  bottle_3_tilt=17deg  eef->bottle_3=20mm [grip]  bottle_3->pocket=248mm
+>> 08-11 17:31:42 [gen] step 2400: lag=1/671mm(med/max)  ORI=0deg  j4=58deg(sat0.17)  bottle_3_tilt=17deg  eef->bottle_3=20mm [grip]  bottle_3->pocket=248mm
+>> 08-11 17:32:30 [gen] step 2440: lag=14/670mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_3_tilt=17deg  eef->bottle_3=113mm [----]  bottle_3->pocket=248mm
+>> 08-11 17:33:05 [gen] step 2480: lag=23/670mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=126mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:33:40 [gen] step 2520: lag=8/670mm(med/max)  ORI=0deg  j4=87deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=32mm [grip]  bottle_1->pocket=100mm
+>> 08-11 17:34:14 [gen] step 2560: lag=4/670mm(med/max)  ORI=0deg  j4=88deg(sat-0.00)  bottle_1_tilt=10deg  eef->bottle_1=32mm [grip]  bottle_1->pocket=100mm
+>> 08-11 17:34:54 [gen] step 2600: lag=5/670mm(med/max)  ORI=0deg  j4=86deg(sat0.01)  bottle_1_tilt=10deg  eef->bottle_1=21mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:35:29 [gen] step 2640: lag=6/670mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=76mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:36:10 [gen] step 2680: lag=7/670mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=79mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:36:47 [gen] step 2720: lag=0/670mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=79mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:37:24 [gen] step 2760: lag=20/670mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=79mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:37:59 [gen] step 2800: lag=9/670mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=79mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:38:22 [wpgen/press] push_seat_3: peak press force N  all med=8.76 max=571.42  CONTACT n=304/512 med=12.15 p90=20.35 max=571.42  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:38:36 [gen] step 2840: lag=7/670mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_1_tilt=10deg  eef->bottle_1=79mm [----]  bottle_1->pocket=100mm
+>> 08-11 17:42:37 [wpgen/progress] batch 4 (cube b3): 146/512 kept  running 468/400  (2048 rollouts)
+>> 08-11 17:42:37 [wpgen/done] DONE (batched chunks): 468/400 kept in 2048 rollouts (4 batches of 512). success 468 | fail@[motion:right_arm:j5_pos 59, place_bottle_2 265, push_seat_2 121, grasp_bottle_2 23, push_seat_0 117, place_bottle_0 254, grasp_bottle_0 29, motion:right_arm:j1_cmd 1, place_bottle_1 205, push_seat_1 131, grasp_bottle_1 27, place_bottle_3 199, push_seat_3 133, motion:right_arm:j6_pos 4, motion:right_arm:j6_cmd 5, grasp_bottle_3 7]  (fail rate 1580/2048 = 77%)
+>> 08-11 17:42:37 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:42:37 [wpgen/done]     b0->s0:   31 [ 128,  24%]  b0->s1:   21 [ 128,  16%]  b0->s2:   27 [ 128,  21%]  b0->s3:   23 [ 128,  18%]   | b0 total  102
+>> 08-11 17:42:37 [wpgen/done]     b1->s0:   38 [ 128,  30%]  b1->s1:   32 [ 128,  25%]  b1->s2:   34 [ 128,  27%]  b1->s3:   33 [ 128,  26%]   | b1 total  137
+>> 08-11 17:42:37 [wpgen/done]     b2->s0:   25 [ 128,  20%]  b2->s1:   13 [ 128,  10%]  b2->s2:   26 [ 128,  20%]  b2->s3:   19 [ 128,  15%]   | b2 total   83
+>> 08-11 17:42:37 [wpgen/done]     b3->s0:   35 [ 128,  27%]  b3->s1:   47 [ 128,  37%]  b3->s2:   37 [ 128,  29%]  b3->s3:   27 [ 128,  21%]   | b3 total  146
+>> 08-11 17:42:37 [wpgen/done]     per-slot totals: s0= 129  s1= 113  s2= 124  s3= 102
+>> 08-11 17:42:37 [wpgen/done]     balance: min 13, max 47 per pair (3.6x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:45:04Z [21,227ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:45:04Z [21,230ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:42:38Z [3,475,559ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu4_failed.hdf5

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+size 952097926

insert_bottles/0807_1/gen/gpu5.hdf5

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+version https://git-lfs.github.com/spec/v1
+oid sha256:996ed92a0842039204a8f87c459030fc220577a4ac9692da4755906f0869b208
+size 276849107

insert_bottles/0807_1/gen/gpu5.log

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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'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [97ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [403ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [551ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [562ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:54Z [10,784ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:54Z [10,784ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:54Z [10,784ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829439
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:56Z [13,202ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:56Z [13,207ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:56Z [13,207ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:56Z [13,207ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [13,249ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-08-11T16:45:06Z [23,683ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:06Z [23,683ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2824277
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:07Z [24,645ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2822602
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:08Z [25,611ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:45:08Z [25,615ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:45:08Z [25,715ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:08Z [25,715ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:08Z [25,719ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:45:08Z [25,727ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:08Z [25,727ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:08Z [25,736ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:08Z [25,736ms] [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)
+2026-08-11T16:45:08Z [25,738ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:45:09Z [26,241ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:45:09Z [26,277ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:09Z [26,277ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:45:09Z [26,282ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:09Z [26,282ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-09.log
+======================================================================================
+
+16:45:09 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 5.433430 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 1.910972 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:17 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:17 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:18 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:19 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:19 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:19 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:19 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:19 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:19 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:19 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:19 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:46:05 [gen] step 40: lag=34/41mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=379mm [----]  bottle_2->pocket=244mm
+>> 08-11 16:46:39 [gen] step 80: lag=23/249mm(med/max)  ORI=2deg  j2=27deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=233mm [----]  bottle_1->pocket=150mm
+>> 08-11 16:47:13 [gen] step 120: lag=5/696mm(med/max)  ORI=0deg  j4=71deg(sat0.10)  bottle_1_tilt=17deg  eef->bottle_1=68mm [----]  bottle_1->pocket=150mm
+>> 08-11 16:47:47 [gen] step 160: lag=0/492mm(med/max)  ORI=0deg  j4=71deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=69mm [----]  bottle_1->pocket=150mm
+>> 08-11 16:48:23 [gen] step 200: lag=11/572mm(med/max)  ORI=0deg  j4=64deg(sat0.14)  bottle_1_tilt=17deg  eef->bottle_1=28mm [----]  bottle_1->pocket=150mm
+>> 08-11 16:48:58 [gen] step 240: lag=1/570mm(med/max)  ORI=0deg  j4=61deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=32mm [grip]  bottle_1->pocket=142mm
+>> 08-11 16:49:33 [gen] step 280: lag=1/570mm(med/max)  ORI=0deg  j4=61deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=32mm [grip]  bottle_1->pocket=142mm
+>> 08-11 16:50:18 [gen] step 320: lag=13/566mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=129mm [----]  bottle_1->pocket=141mm
+>> 08-11 16:50:53 [gen] step 360: lag=23/566mm(med/max)  ORI=10deg  j4=88deg(sat-0.00)  bottle_3_tilt=13deg  eef->bottle_3=129mm [----]  bottle_3->pocket=90mm
+>> 08-11 16:51:27 [gen] step 400: lag=5/566mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_3_tilt=14deg  eef->bottle_3=147mm [----]  bottle_3->pocket=90mm
+>> 08-11 16:52:05 [gen] step 440: lag=8/566mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_3_tilt=15deg  eef->bottle_3=94mm [----]  bottle_3->pocket=90mm
+>> 08-11 16:52:39 [gen] step 480: lag=5/566mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_3_tilt=17deg  eef->bottle_3=46mm [----]  bottle_3->pocket=90mm
+>> 08-11 16:53:21 [gen] step 520: lag=11/566mm(med/max)  ORI=6deg  j4=88deg(sat-0.00)  bottle_3_tilt=17deg  eef->bottle_3=101mm [----]  bottle_3->pocket=91mm
+>> 08-11 16:53:55 [gen] step 560: lag=1/566mm(med/max)  ORI=0deg  j4=78deg(sat0.06)  bottle_1_tilt=17deg  eef->bottle_1=75mm [----]  bottle_1->pocket=149mm
+>> 08-11 16:54:32 [gen] step 600: lag=19/566mm(med/max)  ORI=5deg  j4=64deg(sat0.14)  bottle_1_tilt=6deg  eef->bottle_1=3mm [grip]  bottle_1->pocket=155mm
+>> 08-11 16:55:06 [gen] step 640: lag=15/566mm(med/max)  ORI=1deg  j4=66deg(sat0.12)  bottle_1_tilt=7deg  eef->bottle_1=13mm [grip]  bottle_1->pocket=159mm
+>> 08-11 16:55:44 [gen] step 680: lag=0/566mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_1_tilt=17deg  eef->bottle_1=69mm [----]  bottle_1->pocket=171mm
+>> 08-11 16:55:46 [wpgen/press] push_seat_1: peak press force N  all med=0.00 max=91.31  CONTACT n=256/512 med=12.05 p90=24.96 max=91.31  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:58:39 [wpgen/progress] batch 1 (cube b1): 121/512 kept  running 121/400  (512 rollouts)
+>> 08-11 16:58:45 [gen] step 720: lag=90/90mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=362mm [----]  bottle_0->pocket=305mm
+>> 08-11 16:59:26 [gen] step 760: lag=63/79mm(med/max)  ORI=1deg  j2=20deg(sat0.11)  bottle_2_tilt=17deg  eef->bottle_2=382mm [----]  bottle_2->pocket=263mm
+>> 08-11 16:59:59 [gen] step 800: lag=18/401mm(med/max)  ORI=2deg  j3=-50deg(sat0.29)  bottle_3_tilt=17deg  eef->bottle_3=241mm [----]  bottle_3->pocket=217mm
+>> 08-11 17:00:33 [gen] step 840: lag=1/761mm(med/max)  ORI=0deg  j4=61deg(sat0.15)  bottle_3_tilt=17deg  eef->bottle_3=114mm [----]  bottle_3->pocket=217mm
+>> 08-11 17:01:07 [gen] step 880: lag=0/1085mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_3_tilt=17deg  eef->bottle_3=114mm [----]  bottle_3->pocket=217mm
+>> 08-11 17:01:43 [gen] step 920: lag=12/643mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_3_tilt=17deg  eef->bottle_3=94mm [----]  bottle_3->pocket=218mm
+>> 08-11 17:02:19 [gen] step 960: lag=1/653mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_2_tilt=17deg  eef->bottle_2=23mm [grip]  bottle_2->pocket=268mm
+>> 08-11 17:02:55 [gen] step 1000: lag=0/653mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_2_tilt=17deg  eef->bottle_2=24mm [grip]  bottle_2->pocket=268mm
+>> 08-11 17:03:41 [gen] step 1040: lag=11/651mm(med/max)  ORI=0deg  j4=84deg(sat0.02)  bottle_2_tilt=17deg  eef->bottle_2=116mm [----]  bottle_2->pocket=268mm
+>> 08-11 17:04:17 [gen] step 1080: lag=18/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=108deg  eef->bottle_1=172mm [----]  bottle_1->pocket=163mm
+>> 08-11 17:04:51 [gen] step 1120: lag=4/651mm(med/max)  ORI=3deg  j4=88deg(sat-0.00)  bottle_1_tilt=108deg  eef->bottle_1=215mm [----]  bottle_1->pocket=163mm
+>> 08-11 17:05:31 [gen] step 1160: lag=8/651mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_1_tilt=108deg  eef->bottle_1=226mm [----]  bottle_1->pocket=170mm
+>> 08-11 17:06:06 [gen] step 1200: lag=4/651mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_1_tilt=108deg  eef->bottle_1=277mm [----]  bottle_1->pocket=191mm
+>> 08-11 17:06:49 [gen] step 1240: lag=11/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=108deg  eef->bottle_1=256mm [----]  bottle_1->pocket=191mm
+>> 08-11 17:07:24 [gen] step 1280: lag=1/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=108deg  eef->bottle_1=256mm [----]  bottle_1->pocket=191mm
+>> 08-11 17:08:01 [gen] step 1320: lag=14/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=108deg  eef->bottle_1=256mm [----]  bottle_1->pocket=191mm
+>> 08-11 17:08:36 [gen] step 1360: lag=14/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=108deg  eef->bottle_1=256mm [----]  bottle_1->pocket=191mm
+>> 08-11 17:09:17 [gen] step 1400: lag=1/651mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=108deg  eef->bottle_1=256mm [----]  bottle_1->pocket=191mm
+>> 08-11 17:09:19 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=64.54  CONTACT n=223/512 med=13.04 p90=21.92 max=64.54  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:12:42 [wpgen/progress] batch 2 (cube b2): 98/512 kept  running 219/400  (1024 rollouts)
+>> 08-11 17:12:47 [gen] step 1440: lag=88/88mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=374mm [----]  bottle_0->pocket=164mm
+>> 08-11 17:13:29 [gen] step 1480: lag=59/73mm(med/max)  ORI=1deg  j2=17deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=389mm [----]  bottle_0->pocket=164mm
+>> 08-11 17:14:03 [gen] step 1520: lag=20/400mm(med/max)  ORI=1deg  j3=-34deg(sat0.20)  bottle_0_tilt=17deg  eef->bottle_0=171mm [----]  bottle_0->pocket=164mm
+>> 08-11 17:14:36 [gen] step 1560: lag=0/642mm(med/max)  ORI=0deg  j4=56deg(sat0.18)  bottle_0_tilt=17deg  eef->bottle_0=19mm [----]  bottle_0->pocket=164mm
+>> 08-11 17:15:10 [gen] step 1600: lag=0/1105mm(med/max)  ORI=0deg  j4=56deg(sat0.18)  bottle_0_tilt=17deg  eef->bottle_0=19mm [----]  bottle_0->pocket=164mm
+>> 08-11 17:15:46 [gen] step 1640: lag=11/641mm(med/max)  ORI=1deg  j4=52deg(sat0.21)  bottle_0_tilt=17deg  eef->bottle_0=23mm [----]  bottle_0->pocket=164mm
+>> 08-11 17:16:22 [gen] step 1680: lag=1/641mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_0_tilt=17deg  eef->bottle_0=11mm [grip]  bottle_0->pocket=168mm
+>> 08-11 17:16:56 [gen] step 1720: lag=0/641mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_0_tilt=17deg  eef->bottle_0=11mm [grip]  bottle_0->pocket=168mm
+>> 08-11 17:17:43 [gen] step 1760: lag=14/638mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=15deg  eef->bottle_0=11mm [grip]  bottle_0->pocket=177mm
+>> 08-11 17:18:18 [gen] step 1800: lag=21/638mm(med/max)  ORI=6deg  j4=88deg(sat-0.00)  bottle_0_tilt=9deg  eef->bottle_0=11mm [grip]  bottle_0->pocket=97mm
+>> 08-11 17:18:52 [gen] step 1840: lag=4/638mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=8deg  eef->bottle_0=11mm [grip]  bottle_0->pocket=99mm
+>> 08-11 17:19:31 [gen] step 1880: lag=7/638mm(med/max)  ORI=1deg  j4=88deg(sat-0.00)  bottle_0_tilt=13deg  eef->bottle_0=11mm [grip]  bottle_0->pocket=85mm
+>> 08-11 17:20:05 [gen] step 1920: lag=5/638mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_0_tilt=29deg  eef->bottle_0=16mm [grip]  bottle_0->pocket=97mm
+>> 08-11 17:20:47 [gen] step 1960: lag=6/638mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_0_tilt=27deg  eef->bottle_0=11mm [grip]  bottle_0->pocket=98mm
+>> 08-11 17:21:27 [gen] step 2000: lag=5/638mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_0_tilt=21deg  eef->bottle_0=3mm [grip]  bottle_0->pocket=99mm
+>> 08-11 17:22:02 [gen] step 2040: lag=16/638mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=12deg  eef->bottle_0=13mm [grip]  bottle_0->pocket=101mm
+>> 08-11 17:22:36 [gen] step 2080: lag=3/638mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=59mm [----]  bottle_0->pocket=101mm
+>> 08-11 17:22:49 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=78.32  CONTACT n=227/512 med=12.35 p90=24.18 max=78.32  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:23:09 [gen] step 2120: lag=5/638mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=58mm [----]  bottle_0->pocket=101mm
+>> 08-11 17:26:55 [wpgen/progress] batch 3 (cube b0): 104/512 kept  running 323/400  (1536 rollouts)
+>> 08-11 17:27:32 [gen] step 2160: lag=3/3mm(med/max)  ORI=0deg  j2=15deg(sat0.08)  bottle_2_tilt=17deg  eef->bottle_2=363mm [----]  bottle_2->pocket=298mm
+>> 08-11 17:28:03 [gen] step 2200: lag=45/197mm(med/max)  ORI=2deg  j2=30deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=294mm [----]  bottle_0->pocket=250mm
+>> 08-11 17:28:36 [gen] step 2240: lag=23/622mm(med/max)  ORI=1deg  j4=69deg(sat0.11)  bottle_0_tilt=17deg  eef->bottle_0=130mm [----]  bottle_0->pocket=250mm
+>> 08-11 17:29:10 [gen] step 2280: lag=0/598mm(med/max)  ORI=0deg  j4=77deg(sat0.06)  bottle_0_tilt=17deg  eef->bottle_0=120mm [----]  bottle_0->pocket=250mm
+>> 08-11 17:29:47 [gen] step 2320: lag=11/622mm(med/max)  ORI=0deg  j4=69deg(sat0.11)  bottle_3_tilt=17deg  eef->bottle_3=71mm [----]  bottle_3->pocket=213mm
+>> 08-11 17:30:21 [gen] step 2360: lag=1/679mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=41mm [grip]  bottle_3->pocket=179mm
+>> 08-11 17:30:57 [gen] step 2400: lag=4/679mm(med/max)  ORI=1deg  j4=65deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=41mm [grip]  bottle_3->pocket=179mm
+>> 08-11 17:31:46 [gen] step 2440: lag=15/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=179mm
+>> 08-11 17:32:19 [gen] step 2480: lag=24/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=179mm
+>> 08-11 17:32:55 [gen] step 2520: lag=8/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=179mm
+>> 08-11 17:33:29 [gen] step 2560: lag=4/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=179mm
+>> 08-11 17:34:10 [gen] step 2600: lag=7/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=179mm
+>> 08-11 17:34:44 [gen] step 2640: lag=4/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=178mm
+>> 08-11 17:35:29 [gen] step 2680: lag=5/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=178mm
+>> 08-11 17:36:03 [gen] step 2720: lag=0/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=178mm
+>> 08-11 17:36:40 [gen] step 2760: lag=21/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=178mm
+>> 08-11 17:37:15 [gen] step 2800: lag=9/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=178mm
+>> 08-11 17:37:43 [wpgen/press] push_seat_3: peak press force N  all med=8.96 max=76.27  CONTACT n=314/512 med=11.74 p90=21.46 max=76.27  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:37:54 [gen] step 2840: lag=7/677mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=164deg  eef->bottle_3=47mm [grip]  bottle_3->pocket=178mm
+>> 08-11 17:41:54 [wpgen/progress] batch 4 (cube b3): 147/512 kept  running 470/400  (2048 rollouts)
+>> 08-11 17:41:54 [wpgen/done] DONE (batched chunks): 470/400 kept in 2048 rollouts (4 batches of 512). success 470 | fail@[push_seat_1 127, place_bottle_1 225, grasp_bottle_1 30, motion:right_arm:j5_pos 40, motion:right_arm:j6_cmd 3, place_bottle_2 264, push_seat_2 116, grasp_bottle_2 25, push_seat_0 112, grasp_bottle_0 31, place_bottle_0 250, motion:right_arm:j3_cmd 1, grasp_bottle_3 9, place_bottle_3 188, push_seat_3 153, motion:right_arm:j6_pos 4]  (fail rate 1578/2048 = 77%)
+>> 08-11 17:41:54 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:41:54 [wpgen/done]     b0->s0:   28 [ 128,  22%]  b0->s1:   29 [ 128,  23%]  b0->s2:   24 [ 128,  19%]  b0->s3:   23 [ 128,  18%]   | b0 total  104
+>> 08-11 17:41:54 [wpgen/done]     b1->s0:   43 [ 128,  34%]  b1->s1:   34 [ 128,  27%]  b1->s2:   30 [ 128,  23%]  b1->s3:   14 [ 128,  11%]   | b1 total  121
+>> 08-11 17:41:54 [wpgen/done]     b2->s0:   23 [ 128,  18%]  b2->s1:   29 [ 128,  23%]  b2->s2:   18 [ 128,  14%]  b2->s3:   28 [ 128,  22%]   | b2 total   98
+>> 08-11 17:41:54 [wpgen/done]     b3->s0:   49 [ 128,  38%]  b3->s1:   42 [ 128,  33%]  b3->s2:   32 [ 128,  25%]  b3->s3:   24 [ 128,  19%]   | b3 total  147
+>> 08-11 17:41:54 [wpgen/done]     per-slot totals: s0= 143  s1= 134  s2= 104  s3=  89
+>> 08-11 17:41:54 [wpgen/done]     balance: min 14, max 49 per pair (3.5x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:45:09Z [26,463ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:45:09Z [26,466ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:41:56Z [3,432,899ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu5_failed.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5155cb483611d1771c2a5c054a214c9e27950dc5f292daf457a192eb33d3c34
+size 950378913

insert_bottles/0807_1/gen/gpu6.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8806288423fa0810d4a0fd5aa389739da86493704f7270556f61160b4afe8834
+size 282686570

insert_bottles/0807_1/gen/gpu6.log

@@ -0,0 +1,328 @@
+
+Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [97ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [409ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [546ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [556ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:53Z [10,595ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:53Z [10,595ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:53Z [10,595ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829683
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:55Z [12,543ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:55Z [12,548ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:55Z [12,548ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:55Z [12,548ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [13,436ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:44:56Z [13,436ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2828916
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:57Z [14,361ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2828897
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:58Z [15,275ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:58Z [15,278ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:44:58Z [15,373ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:44:58Z [15,373ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:44:58Z [15,377ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:44:58Z [15,384ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:44:58Z [15,384ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:44:58Z [15,393ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:44:58Z [15,393ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:44:58Z [15,394ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:44:59Z [15,868ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:44:59Z [15,903ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:44:59Z [15,903ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:44:59Z [15,908ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:44:59Z [15,908ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-44-59.log
+======================================================================================
+
+16:44:59 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 5.168303 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 2.037536 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:07 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:07 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:08 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:08 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:08 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:08 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:08 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:08 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:08 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:08 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:08 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:45:56 [gen] step 40: lag=34/41mm(med/max)  ORI=0deg  j2=17deg(sat0.09)  bottle_1_tilt=108deg  eef->bottle_1=379mm [----]  bottle_1->pocket=227mm
+>> 08-11 16:46:30 [gen] step 80: lag=21/335mm(med/max)  ORI=2deg  j3=-37deg(sat0.22)  bottle_0_tilt=17deg  eef->bottle_0=215mm [----]  bottle_0->pocket=185mm
+>> 08-11 16:47:04 [gen] step 120: lag=2/726mm(med/max)  ORI=0deg  j4=55deg(sat0.19)  bottle_0_tilt=17deg  eef->bottle_0=41mm [----]  bottle_0->pocket=185mm
+>> 08-11 16:47:37 [gen] step 160: lag=0/748mm(med/max)  ORI=0deg  j4=55deg(sat0.19)  bottle_0_tilt=17deg  eef->bottle_0=41mm [----]  bottle_0->pocket=185mm
+>> 08-11 16:48:14 [gen] step 200: lag=11/731mm(med/max)  ORI=1deg  j4=57deg(sat0.18)  bottle_0_tilt=17deg  eef->bottle_0=36mm [----]  bottle_0->pocket=185mm
+>> 08-11 16:48:49 [gen] step 240: lag=1/656mm(med/max)  ORI=0deg  j4=66deg(sat0.13)  bottle_0_tilt=17deg  eef->bottle_0=16mm [grip]  bottle_0->pocket=189mm
+>> 08-11 16:49:26 [gen] step 280: lag=1/656mm(med/max)  ORI=0deg  j4=66deg(sat0.13)  bottle_0_tilt=17deg  eef->bottle_0=16mm [grip]  bottle_0->pocket=189mm
+>> 08-11 16:50:10 [gen] step 320: lag=15/657mm(med/max)  ORI=0deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=16mm [grip]  bottle_0->pocket=220mm
+>> 08-11 16:50:46 [gen] step 360: lag=22/657mm(med/max)  ORI=6deg  j4=88deg(sat-0.00)  bottle_0_tilt=13deg  eef->bottle_0=16mm [grip]  bottle_0->pocket=116mm
+>> 08-11 16:51:22 [gen] step 400: lag=4/657mm(med/max)  ORI=0deg  j4=84deg(sat0.02)  bottle_0_tilt=10deg  eef->bottle_0=16mm [grip]  bottle_0->pocket=71mm
+>> 08-11 16:52:03 [gen] step 440: lag=8/657mm(med/max)  ORI=1deg  j4=71deg(sat0.09)  bottle_0_tilt=6deg  eef->bottle_0=16mm [grip]  bottle_0->pocket=111mm
+>> 08-11 16:52:38 [gen] step 480: lag=7/657mm(med/max)  ORI=1deg  j4=70deg(sat0.10)  bottle_0_tilt=17deg  eef->bottle_0=10mm [----]  bottle_0->pocket=90mm
+>> 08-11 16:53:20 [gen] step 520: lag=9/657mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_0_tilt=17deg  eef->bottle_0=56mm [----]  bottle_0->pocket=90mm
+>> 08-11 16:53:54 [gen] step 560: lag=0/657mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_0_tilt=15deg  eef->bottle_0=52mm [----]  bottle_0->pocket=90mm
+>> 08-11 16:54:30 [gen] step 600: lag=15/657mm(med/max)  ORI=1deg  j4=69deg(sat0.11)  bottle_0_tilt=17deg  eef->bottle_0=4mm [grip]  bottle_0->pocket=90mm
+>> 08-11 16:55:05 [gen] step 640: lag=12/657mm(med/max)  ORI=7deg  j4=65deg(sat0.13)  bottle_0_tilt=13deg  eef->bottle_0=9mm [grip]  bottle_0->pocket=89mm
+>> 08-11 16:55:43 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=142.52  CONTACT n=206/512 med=11.81 p90=23.32 max=142.52  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:55:44 [gen] step 680: lag=1/657mm(med/max)  ORI=0deg  j4=70deg(sat0.10)  bottle_0_tilt=17deg  eef->bottle_0=124mm [----]  bottle_0->pocket=91mm
+>> 08-11 16:58:36 [wpgen/progress] batch 1 (cube b0): 85/512 kept  running 85/400  (512 rollouts)
+>> 08-11 16:58:44 [gen] step 720: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_2_tilt=17deg  eef->bottle_2=370mm [----]  bottle_2->pocket=326mm
+>> 08-11 16:59:25 [gen] step 760: lag=73/94mm(med/max)  ORI=2deg  j2=16deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=374mm [----]  bottle_2->pocket=326mm
+>> 08-11 16:59:59 [gen] step 800: lag=19/406mm(med/max)  ORI=1deg  j4=62deg(sat0.15)  bottle_2_tilt=17deg  eef->bottle_2=115mm [----]  bottle_2->pocket=326mm
+>> 08-11 17:00:33 [gen] step 840: lag=1/843mm(med/max)  ORI=0deg  j4=56deg(sat0.18)  bottle_2_tilt=17deg  eef->bottle_2=41mm [----]  bottle_2->pocket=326mm
+>> 08-11 17:01:08 [gen] step 880: lag=0/738mm(med/max)  ORI=0deg  j4=56deg(sat0.18)  bottle_2_tilt=17deg  eef->bottle_2=41mm [----]  bottle_2->pocket=326mm
+>> 08-11 17:01:45 [gen] step 920: lag=12/667mm(med/max)  ORI=1deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=16mm [----]  bottle_2->pocket=326mm
+>> 08-11 17:02:20 [gen] step 960: lag=1/666mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=15mm [grip]  bottle_2->pocket=331mm
+>> 08-11 17:02:54 [gen] step 1000: lag=3/665mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=15mm [grip]  bottle_2->pocket=331mm
+>> 08-11 17:03:40 [gen] step 1040: lag=15/664mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_2_tilt=17deg  eef->bottle_2=15mm [grip]  bottle_2->pocket=304mm
+>> 08-11 17:04:15 [gen] step 1080: lag=16/664mm(med/max)  ORI=0deg  j4=87deg(sat0.01)  bottle_2_tilt=18deg  eef->bottle_2=15mm [grip]  bottle_2->pocket=161mm
+>> 08-11 17:04:49 [gen] step 1120: lag=4/664mm(med/max)  ORI=0deg  j4=75deg(sat0.07)  bottle_2_tilt=10deg  eef->bottle_2=15mm [grip]  bottle_2->pocket=110mm
+>> 08-11 17:05:28 [gen] step 1160: lag=8/664mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_2_tilt=5deg  eef->bottle_2=15mm [grip]  bottle_2->pocket=120mm
+>> 08-11 17:06:02 [gen] step 1200: lag=7/664mm(med/max)  ORI=0deg  j4=64deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=28mm [----]  bottle_2->pocket=100mm
+>> 08-11 17:06:42 [gen] step 1240: lag=7/664mm(med/max)  ORI=0deg  j4=59deg(sat0.16)  bottle_2_tilt=17deg  eef->bottle_2=54mm [----]  bottle_2->pocket=100mm
+>> 08-11 17:07:19 [gen] step 1280: lag=0/664mm(med/max)  ORI=0deg  j4=59deg(sat0.17)  bottle_2_tilt=17deg  eef->bottle_2=52mm [----]  bottle_2->pocket=101mm
+>> 08-11 17:07:54 [gen] step 1320: lag=15/664mm(med/max)  ORI=2deg  j4=60deg(sat0.16)  bottle_2_tilt=14deg  eef->bottle_2=4mm [grip]  bottle_2->pocket=101mm
+>> 08-11 17:08:28 [gen] step 1360: lag=8/664mm(med/max)  ORI=6deg  j4=55deg(sat0.19)  bottle_2_tilt=11deg  eef->bottle_2=14mm [grip]  bottle_2->pocket=101mm
+>> 08-11 17:09:04 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=64.96  CONTACT n=226/512 med=12.74 p90=21.86 max=64.96  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:09:08 [gen] step 1400: lag=0/664mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_2_tilt=17deg  eef->bottle_2=122mm [----]  bottle_2->pocket=102mm
+>> 08-11 17:12:30 [wpgen/progress] batch 2 (cube b2): 107/512 kept  running 192/400  (1024 rollouts)
+>> 08-11 17:12:41 [gen] step 1440: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=370mm [----]  bottle_0->pocket=248mm
+>> 08-11 17:13:22 [gen] step 1480: lag=83/115mm(med/max)  ORI=1deg  j2=17deg(sat0.09)  bottle_0_tilt=17deg  eef->bottle_0=385mm [----]  bottle_0->pocket=248mm
+>> 08-11 17:13:55 [gen] step 1520: lag=23/586mm(med/max)  ORI=1deg  j4=56deg(sat0.18)  bottle_0_tilt=17deg  eef->bottle_0=264mm [----]  bottle_0->pocket=248mm
+>> 08-11 17:14:28 [gen] step 1560: lag=0/641mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_0_tilt=17deg  eef->bottle_0=163mm [----]  bottle_0->pocket=248mm
+>> 08-11 17:15:02 [gen] step 1600: lag=0/1127mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_0_tilt=17deg  eef->bottle_0=163mm [----]  bottle_0->pocket=248mm
+>> 08-11 17:15:38 [gen] step 1640: lag=10/721mm(med/max)  ORI=0deg  j4=63deg(sat0.14)  bottle_1_tilt=17deg  eef->bottle_1=51mm [----]  bottle_1->pocket=181mm
+>> 08-11 17:16:14 [gen] step 1680: lag=1/691mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_1_tilt=108deg  eef->bottle_1=27mm [grip]  bottle_1->pocket=160mm
+>> 08-11 17:16:50 [gen] step 1720: lag=3/685mm(med/max)  ORI=1deg  j4=60deg(sat0.16)  bottle_1_tilt=108deg  eef->bottle_1=30mm [grip]  bottle_1->pocket=160mm
+>> 08-11 17:17:35 [gen] step 1760: lag=15/685mm(med/max)  ORI=0deg  j4=85deg(sat0.01)  bottle_1_tilt=108deg  eef->bottle_1=130mm [----]  bottle_1->pocket=160mm
+>> 08-11 17:18:12 [gen] step 1800: lag=19/685mm(med/max)  ORI=1deg  j4=86deg(sat0.01)  bottle_3_tilt=9deg  eef->bottle_3=84mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:18:46 [gen] step 1840: lag=4/685mm(med/max)  ORI=0deg  j4=81deg(sat0.04)  bottle_3_tilt=9deg  eef->bottle_3=74mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:19:25 [gen] step 1880: lag=8/685mm(med/max)  ORI=0deg  j4=79deg(sat0.05)  bottle_3_tilt=9deg  eef->bottle_3=71mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:19:59 [gen] step 1920: lag=6/685mm(med/max)  ORI=1deg  j4=83deg(sat0.03)  bottle_3_tilt=9deg  eef->bottle_3=118mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:20:44 [gen] step 1960: lag=12/685mm(med/max)  ORI=0deg  j4=84deg(sat0.03)  bottle_3_tilt=9deg  eef->bottle_3=88mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:21:18 [gen] step 2000: lag=1/685mm(med/max)  ORI=0deg  j4=84deg(sat0.03)  bottle_3_tilt=9deg  eef->bottle_3=88mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:21:54 [gen] step 2040: lag=14/685mm(med/max)  ORI=0deg  j4=84deg(sat0.03)  bottle_3_tilt=9deg  eef->bottle_3=88mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:22:29 [gen] step 2080: lag=20/685mm(med/max)  ORI=0deg  j4=84deg(sat0.03)  bottle_3_tilt=9deg  eef->bottle_3=89mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:23:08 [gen] step 2120: lag=1/685mm(med/max)  ORI=0deg  j4=84deg(sat0.03)  bottle_3_tilt=9deg  eef->bottle_3=89mm [----]  bottle_3->pocket=90mm
+>> 08-11 17:23:11 [wpgen/press] push_seat_1: peak press force N  all med=6.94 max=71.45  CONTACT n=267/512 med=12.30 p90=21.27 max=71.45  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:27:24 [wpgen/progress] batch 3 (cube b1): 141/512 kept  running 333/400  (1536 rollouts)
+>> 08-11 17:27:28 [gen] step 2160: lag=84/84mm(med/max)  ORI=2deg  j2=13deg(sat0.07)  bottle_2_tilt=17deg  eef->bottle_2=354mm [----]  bottle_2->pocket=295mm
+>> 08-11 17:28:11 [gen] step 2200: lag=56/68mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=381mm [----]  bottle_2->pocket=295mm
+>> 08-11 17:28:45 [gen] step 2240: lag=25/179mm(med/max)  ORI=2deg  j4=57deg(sat0.17)  bottle_3_tilt=17deg  eef->bottle_3=233mm [----]  bottle_3->pocket=197mm
+>> 08-11 17:29:18 [gen] step 2280: lag=17/528mm(med/max)  ORI=5deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=114mm [----]  bottle_3->pocket=197mm
+>> 08-11 17:29:55 [gen] step 2320: lag=0/596mm(med/max)  ORI=5deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=114mm [----]  bottle_3->pocket=197mm
+>> 08-11 17:30:30 [gen] step 2360: lag=3/683mm(med/max)  ORI=0deg  j4=57deg(sat0.18)  bottle_3_tilt=17deg  eef->bottle_3=24mm [grip]  bottle_3->pocket=183mm
+>> 08-11 17:31:05 [gen] step 2400: lag=1/683mm(med/max)  ORI=0deg  j4=57deg(sat0.18)  bottle_3_tilt=17deg  eef->bottle_3=24mm [grip]  bottle_3->pocket=183mm
+>> 08-11 17:31:52 [gen] step 2440: lag=14/682mm(med/max)  ORI=0deg  j4=72deg(sat0.09)  bottle_3_tilt=17deg  eef->bottle_3=68mm [----]  bottle_3->pocket=183mm
+>> 08-11 17:32:28 [gen] step 2480: lag=20/682mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=166mm [----]  bottle_3->pocket=183mm
+>> 08-11 17:33:01 [gen] step 2520: lag=14/682mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=169mm [----]  bottle_3->pocket=183mm
+>> 08-11 17:33:36 [gen] step 2560: lag=4/682mm(med/max)  ORI=0deg  j4=87deg(sat0.01)  bottle_3_tilt=17deg  eef->bottle_3=172mm [----]  bottle_3->pocket=183mm
+>> 08-11 17:34:14 [gen] step 2600: lag=9/682mm(med/max)  ORI=0deg  j4=85deg(sat0.02)  bottle_0_tilt=17deg  eef->bottle_0=147mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:34:50 [gen] step 2640: lag=6/682mm(med/max)  ORI=0deg  j4=80deg(sat0.04)  bottle_0_tilt=17deg  eef->bottle_0=63mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:35:30 [gen] step 2680: lag=10/682mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=102mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:36:05 [gen] step 2720: lag=1/682mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=102mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:36:42 [gen] step 2760: lag=17/682mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=102mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:37:17 [gen] step 2800: lag=18/682mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=102mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:37:50 [gen] step 2840: lag=0/682mm(med/max)  ORI=1deg  j4=88deg(sat0.00)  bottle_0_tilt=17deg  eef->bottle_0=102mm [----]  bottle_0->pocket=91mm
+>> 08-11 17:37:53 [wpgen/press] push_seat_3: peak press force N  all med=8.06 max=168.00  CONTACT n=298/512 med=11.99 p90=19.65 max=168.00  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:42:23 [wpgen/progress] batch 4 (cube b3): 144/512 kept  running 477/400  (2048 rollouts)
+>> 08-11 17:42:23 [wpgen/done] DONE (batched chunks): 477/400 kept in 2048 rollouts (4 batches of 512). success 477 | fail@[place_bottle_0 274, grasp_bottle_0 32, push_seat_0 114, motion:right_arm:j5_pos 45, grasp_bottle_2 21, place_bottle_2 262, push_seat_2 109, place_bottle_1 208, grasp_bottle_1 33, push_seat_1 114, motion:right_arm:j1_cmd 1, place_bottle_3 202, push_seat_3 138, grasp_bottle_3 11, motion:right_arm:j6_cmd 3, motion:right_arm:j4_cmd 1, motion:right_arm:j6_pos 3]  (fail rate 1571/2048 = 77%)
+>> 08-11 17:42:23 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:42:23 [wpgen/done]     b0->s0:   24 [ 128,  19%]  b0->s1:   20 [ 128,  16%]  b0->s2:   25 [ 128,  20%]  b0->s3:   16 [ 128,  12%]   | b0 total   85
+>> 08-11 17:42:23 [wpgen/done]     b1->s0:   39 [ 128,  30%]  b1->s1:   46 [ 128,  36%]  b1->s2:   28 [ 128,  22%]  b1->s3:   28 [ 128,  22%]   | b1 total  141
+>> 08-11 17:42:23 [wpgen/done]     b2->s0:   32 [ 128,  25%]  b2->s1:   28 [ 128,  22%]  b2->s2:   23 [ 128,  18%]  b2->s3:   24 [ 128,  19%]   | b2 total  107
+>> 08-11 17:42:23 [wpgen/done]     b3->s0:   48 [ 128,  38%]  b3->s1:   39 [ 128,  30%]  b3->s2:   33 [ 128,  26%]  b3->s3:   24 [ 128,  19%]   | b3 total  144
+>> 08-11 17:42:23 [wpgen/done]     per-slot totals: s0= 143  s1= 133  s2= 109  s3=  92
+>> 08-11 17:42:23 [wpgen/done]     balance: min 16, max 48 per pair (3.0x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:44:59Z [16,086ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:44:59Z [16,089ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:42:24Z [3,460,981ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu6_failed.hdf5

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+size 947869065

insert_bottles/0807_1/gen/gpu7.hdf5

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a2c9a51a5748a07bd6d499f30ef29bf812c77666be161af57b9bb25f23b250e0
+size 269896330

insert_bottles/0807_1/gen/gpu7.log

@@ -0,0 +1,330 @@
+
+Loading user config located at: '/home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/data/Kit/Isaac-Sim/5.1/user.config.json'
+[Info] [carb] Logging to file: /home/ubuntu/miniconda3/envs/env_isaaclab/lib/python3.11/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260811_164443.log
+2026-08-11T16:44:43Z [99ms] [Warning] [omni.usd_config.extension] Enable omni.materialx.libs extension to use MaterialX
+2026-08-11T16:44:43Z [404ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+2026-08-11T16:44:43Z [550ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+2026-08-11T16:44:43Z [560ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+2026-08-11T16:44:53Z [10,666ms] [Warning] [carb.cudainterop.plugin] CUDA_VISIBLE_DEVICES environment variable is set.
+2026-08-11T16:44:53Z [10,666ms] [Warning] [carb.cudainterop.plugin] Note CUDA device enumeration and Omniverse device enumeration are different.
+2026-08-11T16:44:53Z [10,666ms] [Warning] [carb.cudainterop.plugin] Setting CUDA_VISIBLE_DEVICES can lead to undesired behavior or crashes.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2829568
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:44:56Z [13,195ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:44:56Z [13,203ms] [Error] [gpu.foundation.plugin] Invalid getDeviceInfo parameters.
+[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
+[INFO][AppLauncher]: Using device: cuda
+[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspace/wayne/IsaacLab/apps/isaaclab.python.headless.kit
+>> 08-11 16:44:56 [wpgen/setup] seated-orientation gate ON (insert.conditions.bottles): |yaw of axis (0.0, 1.0, 0.0)|<=15deg, tilt[level]<=10deg
+>> 08-11 16:44:56 [wpgen/setup] EXCLUDED 2 source demo(s) via mimic.exclude_takes (demo_16=take_20260807_142443, demo_17=take_20260807_142630); 23 remain
+>> 08-11 16:44:56 [wpgen/setup] task=bottles (Isaac-InsertBottles-PiperX-IK-Abs-Mimic-v0)  payloads=['insert_bottle_0', 'insert_bottle_1', 'insert_bottle_2', 'insert_bottle_3']
+>> 08-11 16:44:56 [wpgen/setup] annotation=/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/insert_bottles_annotation.json  source=demo_0  subtasks=['grasp_bottle_0', 'place_bottle_0', 'push_seat_0']
+2026-08-11T16:44:56Z [13,203ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Couldn't get driver version, failed to getDeviceInfo
+2026-08-11T16:44:56Z [13,203ms] [Warning] [omni.physx.foundation.plugin] PhysXFoundation: Unable to get IGpuFoundation, GpuDevices or Graphics!
+2026-08-11T16:44:56Z [13,243ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-08-11T16:45:14Z [31,520ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:14Z [31,520ms] [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)
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2814607
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:15Z [32,463ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 0             | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|=============================================================================================|
+| OS: 24.04.4 LTS (Noble Numbat) ubuntu, Version: 24.04.4, Kernel: 6.8.0-1046-nvidia
+| Processor: INTEL(R) XEON(R) PLATINUM 8570
+| Cores: 104 | Logical Cores: 208
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 2922999 | Free Memory: 2812963
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-08-11T16:45:16Z [33,396ms] [Error] [gpu.foundation.plugin] No device could be created. Some known system issues:
+- The driver is not installed properly and requires a clean re-install.
+- Your GPUs do not support RayTracing: DXR or Vulkan ray_tracing, or hardware is excluded due to performance.
+- The driver cannot enumerate any GPU: driver, display, TCC mode or a docker issue. For Vulkan, test it with Vulkaninfo tool from Vulkan SDK, instead of nvidia-smi.
+- For Ubuntu, it requires server-xorg-core 1.20.7+ and a display to work without --no-window.
+- For Linux dockers, the setup is not complete. Install the latest driver, xServer and NVIDIA container runtime.
+
+2026-08-11T16:45:16Z [33,400ms] [Error] [omni.gpu_foundation_factory.plugin] Failed to create any GPU devices, including an attempt with compatibility mode.
+sh: 1: zenity: not found
+2026-08-11T16:45:16Z [33,505ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:16Z [33,505ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:16Z [33,509ms] [Error] [omni.kit.renderer.plugin] GPU Foundation is not initialized!
+2026-08-11T16:45:16Z [33,516ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:16Z [33,516ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:16Z [33,527ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-08-11T16:45:16Z [33,527ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-08-11T16:45:16Z [33,528ms] [Error] [omni.kit.imgui_renderer.plugin] _prepareDefaultWindow: invalid device attached to the default window!
+2026-08-11T16:45:17Z [34,093ms] [Warning] [omni.graph.visualization.nodes._impl.extension] No Viewport Window to add omni.graph.visualization.nodes-2.1.3 scene to
+2026-08-11T16:45:17Z [34,130ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:17Z [34,130ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+2026-08-11T16:45:17Z [34,135ms] [Error] [omni.kit.renderer.plugin] Graphics plugins not available
+2026-08-11T16:45:17Z [34,135ms] [Error] [omni.ui] Failed to create texture GPU data! [512 x 64, 1 mips]
+[INFO]: Parsing configuration from: nimble.brain.sim.mimic.bottle_env_cfg:BottlesMimicEnvCfg
+
+======================================================================================
+[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-08-11_16-45-17.log
+======================================================================================
+
+16:45:17 [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.
+[INFO]: Base environment:
+	Environment device    : cuda:0
+	Environment seed      : None
+	Physics step-size     : 0.0020833333333333333
+	Rendering step-size   : 0.016666666666666666
+	Environment step-size : 0.016666666666666666
+[INFO]: Time taken for scene creation : 5.205177 seconds
+[INFO]: Scene manager:  <class InteractiveScene>
+	Number of environments: 512
+	Environment spacing   : 3.0
+	Source prim name      : /World/envs/env_0
+	Global prim paths     : []
+	Replicate physics     : True
+[INFO]: Starting the simulation. This may take a few seconds. Please wait...
+[INFO]: Time taken for simulation start : 1.953468 seconds
+[INFO] Command Manager:  <CommandManager> contains 0 active terms.
++------------------------+
+|  Active Command Terms  |
++--------+-------+-------+
+| Index  | Name  |  Type |
++--------+-------+-------+
++--------+-------+-------+
+
+[INFO] Event Manager:  <EventManager> contains 1 active terms.
++-------------------------------------+
+| Active Event Terms in Mode: 'reset' |
++----------+--------------------------+
+|  Index   | Name                     |
++----------+--------------------------+
+|    0     | randomize_layout         |
+|    1     | seat_brush               |
++----------+--------------------------+
+
+[INFO] Recorder Manager:  <RecorderManager> contains 6 active terms.
++--------------------------------------------------+
+|              Active Recorder Terms               |
++-------+------------------------------------------+
+| Index | Name                                     |
++-------+------------------------------------------+
+|   0   | record_initial_state                     |
+|   1   | record_post_step_states                  |
+|   2   | record_pre_step_actions                  |
+|   3   | record_pre_step_flat_policy_observations |
+|   4   | record_post_step_processed_actions       |
+|   5   | record_post_step_joint_commands          |
++-------+------------------------------------------+
+
+[INFO] Action Manager:  <ActionManager> contains 2 active terms.
++-----------------------------------+
+|   Active Action Terms (shape: 8)  |
++-------+---------------+-----------+
+| Index | Name          | Dimension |
++-------+---------------+-----------+
+|   0   | right_arm     |         7 |
+|   1   | right_gripper |         1 |
++-------+---------------+-----------+
+
+[INFO] Observation Manager: <ObservationManager> contains 2 groups.
++---------------------------------------------+
+| Active Observation Terms in Group: 'policy' |
++----------+-----------------------+----------+
+|  Index   | Name                  |  Shape   |
++----------+-----------------------+----------+
+|    0     | actions               |   (8,)   |
+|    1     | left_eef_pos          |   (3,)   |
+|    2     | left_eef_quat         |   (4,)   |
+|    3     | right_eef_pos         |   (3,)   |
+|    4     | right_eef_quat        |   (4,)   |
+|    5     | left_gripper          |   (1,)   |
+|    6     | right_gripper         |   (1,)   |
+|    7     | box_pose              |   (7,)   |
+|    8     | bottle_0_pose         |   (7,)   |
+|    9     | bottle_1_pose         |   (7,)   |
+|    10    | bottle_2_pose         |   (7,)   |
+|    11    | bottle_3_pose         |   (7,)   |
++----------+-----------------------+----------+
++---------------------------------------------------+
+| Active Observation Terms in Group: 'subtask_terms' |
++-----------+---------------------------+-----------+
+|   Index   | Name                      |   Shape   |
++-----------+---------------------------+-----------+
+|     0     | grasp_bottle_0            |     ()    |
+|     1     | bottle_0_placed           |     ()    |
+|     2     | grasp_bottle_1            |     ()    |
+|     3     | bottle_1_placed           |     ()    |
+|     4     | grasp_bottle_2            |     ()    |
+|     5     | bottle_2_placed           |     ()    |
+|     6     | grasp_bottle_3            |     ()    |
+|     7     | bottle_3_placed           |     ()    |
++-----------+---------------------------+-----------+
+
+[INFO] Termination Manager:  <TerminationManager> contains 1 active terms.
++-----------------------------+
+|   Active Termination Terms  |
++-------+----------+----------+
+| Index | Name     | Time Out |
++-------+----------+----------+
+|   0   | time_out |   True   |
++-------+----------+----------+
+
+[INFO] Reward Manager:  <RewardManager> contains 0 active terms.
++-----------------------+
+|  Active Reward Terms  |
++-------+------+--------+
+| Index | Name | Weight |
++-------+------+--------+
++-------+------+--------+
+
+[INFO] Curriculum Manager:  <CurriculumManager> contains 0 active terms.
++----------------------+
+| Active Curriculum Terms |
++-----------+----------+
+|   Index   | Name     |
++-----------+----------+
++-----------+----------+
+
+[INFO]: Completed setting up the environment...
+>> 08-11 16:45:25 [env] settle gate: position<10mm AND orientation<5.2deg (settle_ori_tol)
+>> 08-11 16:45:25 [env] widened J4 limit to +-88deg
+>> 08-11 16:45:26 [wpgen/setup] box base mass set to 0.6 kg (stops the box being shoved on contact)
+>> 08-11 16:45:26 [wpgen/chunk] catalogue dropped 6 chunk(s) seated OFF-ORIENTATION (would fail the accept gate on every replay): demo_1/b1 tilt, demo_4/b0 tilt, demo_9/b0 tilt, demo_13/b2 tilt, demo_15/b1 tilt, demo_23/b1 tilt
+>> 08-11 16:45:26 [wpgen/chunk] CHUNK mode: 13 usable source chunks; native target slot s0:4, s1:1, s2:4, s3:4
+>> 08-11 16:45:26 [wpgen/chunk] RETARGET on: target slot decoupled from the source chunk (pairs in the source: [(0, 0), (0, 2), (0, 3), (1, 0), (1, 2), (1, 3), (2, 1)])
+>> 08-11 16:45:26 [wpgen/chunk] BALANCE on: scheduling by fewest KEPT per (cube, slot), give up on a pair after 20 barren attempts
+>> 08-11 16:45:26 [wpgen/chunk] REPAYLOAD on: source chunk decoupled from the DELIVERED payload -- any of the 13 chunks may be re-pointed at any of the 4 payloads, so all 16 (cube, slot) pairs are schedulable (sourced cubes: [0, 1, 2])
+>> 08-11 16:45:26 [wpgen/setup] no-weld hold bounds (src grasp offset + grasp_hold_xy): insert_bottle_0=43mm, insert_bottle_1=40mm, insert_bottle_2=42mm
+>> 08-11 16:45:26 [wpgen/setup] REPAYLOAD hold bound for un-sourced payloads ['insert_bottle_3']: 43mm (largest measured source offset)
+>> 08-11 16:45:26 [wpgen/chunk] BATCHED chunks: num_envs=512, one cube per batch, per-env slot/occupancy. target 400 kept, budget 4000 rollouts
+>> 08-11 16:46:20 [gen] step 40: lag=34/41mm(med/max)  ORI=1deg  j2=17deg(sat0.09)  bottle_1_tilt=17deg  eef->bottle_1=376mm [----]  bottle_1->pocket=241mm
+>> 08-11 16:46:56 [gen] step 80: lag=23/381mm(med/max)  ORI=1deg  j4=49deg(sat0.22)  bottle_1_tilt=17deg  eef->bottle_1=138mm [----]  bottle_1->pocket=241mm
+>> 08-11 16:47:31 [gen] step 120: lag=4/722mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_1_tilt=17deg  eef->bottle_1=41mm [----]  bottle_1->pocket=241mm
+>> 08-11 16:48:06 [gen] step 160: lag=0/675mm(med/max)  ORI=0deg  j4=65deg(sat0.13)  bottle_1_tilt=17deg  eef->bottle_1=41mm [----]  bottle_1->pocket=241mm
+>> 08-11 16:48:43 [gen] step 200: lag=10/659mm(med/max)  ORI=1deg  j4=66deg(sat0.13)  bottle_1_tilt=17deg  eef->bottle_1=36mm [----]  bottle_1->pocket=241mm
+>> 08-11 16:49:20 [gen] step 240: lag=1/582mm(med/max)  ORI=0deg  j4=75deg(sat0.08)  bottle_1_tilt=17deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=245mm
+>> 08-11 16:49:58 [gen] step 280: lag=1/582mm(med/max)  ORI=0deg  j4=74deg(sat0.08)  bottle_1_tilt=17deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=245mm
+>> 08-11 16:50:46 [gen] step 320: lag=14/583mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_1_tilt=14deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=262mm
+>> 08-11 16:51:23 [gen] step 360: lag=22/583mm(med/max)  ORI=5deg  j4=88deg(sat-0.00)  bottle_1_tilt=12deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=148mm
+>> 08-11 16:51:59 [gen] step 400: lag=8/583mm(med/max)  ORI=0deg  j4=76deg(sat0.07)  bottle_1_tilt=10deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=107mm
+>> 08-11 16:52:39 [gen] step 440: lag=5/583mm(med/max)  ORI=1deg  j4=76deg(sat0.07)  bottle_1_tilt=9deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=103mm
+>> 08-11 16:53:14 [gen] step 480: lag=5/583mm(med/max)  ORI=0deg  j4=61deg(sat0.15)  bottle_1_tilt=6deg  eef->bottle_1=17mm [grip]  bottle_1->pocket=118mm
+>> 08-11 16:53:54 [gen] step 520: lag=1/583mm(med/max)  ORI=0deg  j4=66deg(sat0.12)  bottle_1_tilt=33deg  eef->bottle_1=94mm [----]  bottle_1->pocket=102mm
+>> 08-11 16:54:37 [gen] step 560: lag=3/583mm(med/max)  ORI=0deg  j4=58deg(sat0.17)  bottle_1_tilt=33deg  eef->bottle_1=52mm [----]  bottle_1->pocket=102mm
+>> 08-11 16:55:16 [gen] step 600: lag=6/583mm(med/max)  ORI=0deg  j4=58deg(sat0.17)  bottle_1_tilt=33deg  eef->bottle_1=45mm [grip]  bottle_1->pocket=102mm
+>> 08-11 16:55:53 [gen] step 640: lag=18/583mm(med/max)  ORI=2deg  j4=59deg(sat0.16)  bottle_1_tilt=36deg  eef->bottle_1=4mm [grip]  bottle_1->pocket=102mm
+>> 08-11 16:56:33 [gen] step 680: lag=6/583mm(med/max)  ORI=0deg  j4=59deg(sat0.17)  bottle_1_tilt=33deg  eef->bottle_1=19mm [grip]  bottle_1->pocket=102mm
+>> 08-11 16:56:51 [wpgen/press] push_seat_1: peak press force N  all med=4.68 max=68.08  CONTACT n=265/512 med=12.84 p90=22.72 max=68.08  (gate 10.00 <= f <= 30.00)
+>> 08-11 16:57:10 [gen] step 720: lag=11/583mm(med/max)  ORI=0deg  j4=71deg(sat0.10)  bottle_1_tilt=33deg  eef->bottle_1=158mm [----]  bottle_1->pocket=102mm
+>> 08-11 16:59:49 [wpgen/progress] batch 1 (cube b1): 138/512 kept  running 138/400  (512 rollouts)
+>> 08-11 17:00:14 [gen] step 760: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_0_tilt=17deg  eef->bottle_0=362mm [----]  bottle_0->pocket=255mm
+>> 08-11 17:00:57 [gen] step 800: lag=37/178mm(med/max)  ORI=2deg  j2=34deg(sat0.19)  bottle_1_tilt=17deg  eef->bottle_1=256mm [----]  bottle_1->pocket=170mm
+>> 08-11 17:01:33 [gen] step 840: lag=21/686mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=82mm [----]  bottle_1->pocket=170mm
+>> 08-11 17:02:09 [gen] step 880: lag=0/663mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=84mm [----]  bottle_1->pocket=170mm
+>> 08-11 17:02:44 [gen] step 920: lag=0/704mm(med/max)  ORI=0deg  j4=62deg(sat0.15)  bottle_1_tilt=17deg  eef->bottle_1=84mm [----]  bottle_1->pocket=170mm
+>> 08-11 17:03:22 [gen] step 960: lag=4/643mm(med/max)  ORI=0deg  j4=60deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=18mm [grip]  bottle_0->pocket=257mm
+>> 08-11 17:04:00 [gen] step 1000: lag=0/642mm(med/max)  ORI=0deg  j4=59deg(sat0.16)  bottle_0_tilt=17deg  eef->bottle_0=18mm [grip]  bottle_0->pocket=257mm
+>> 08-11 17:04:48 [gen] step 1040: lag=13/637mm(med/max)  ORI=0deg  j4=66deg(sat0.12)  bottle_0_tilt=17deg  eef->bottle_0=42mm [grip]  bottle_0->pocket=270mm
+>> 08-11 17:05:26 [gen] step 1080: lag=18/637mm(med/max)  ORI=0deg  j4=86deg(sat0.01)  bottle_1_tilt=17deg  eef->bottle_1=131mm [----]  bottle_1->pocket=170mm
+>> 08-11 17:06:02 [gen] step 1120: lag=8/637mm(med/max)  ORI=1deg  j4=87deg(sat0.01)  bottle_2_tilt=17deg  eef->bottle_2=222mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:06:43 [gen] step 1160: lag=9/637mm(med/max)  ORI=0deg  j4=79deg(sat0.05)  bottle_2_tilt=17deg  eef->bottle_2=246mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:07:19 [gen] step 1200: lag=6/637mm(med/max)  ORI=0deg  j4=82deg(sat0.04)  bottle_2_tilt=17deg  eef->bottle_2=246mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:08:04 [gen] step 1240: lag=7/637mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=17deg  eef->bottle_2=258mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:08:40 [gen] step 1280: lag=1/637mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=17deg  eef->bottle_2=258mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:09:18 [gen] step 1320: lag=9/637mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=17deg  eef->bottle_2=258mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:09:56 [gen] step 1360: lag=19/637mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=17deg  eef->bottle_2=258mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:10:31 [gen] step 1400: lag=1/637mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=17deg  eef->bottle_2=258mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:10:40 [wpgen/press] push_seat_0: peak press force N  all med=0.00 max=108.97  CONTACT n=213/512 med=11.75 p90=21.38 max=108.97  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:11:08 [gen] step 1440: lag=2/637mm(med/max)  ORI=0deg  j4=83deg(sat0.03)  bottle_2_tilt=17deg  eef->bottle_2=258mm [----]  bottle_2->pocket=158mm
+>> 08-11 17:13:59 [wpgen/progress] batch 2 (cube b0): 93/512 kept  running 231/400  (1024 rollouts)
+>> 08-11 17:14:43 [gen] step 1480: lag=34/41mm(med/max)  ORI=0deg  j2=16deg(sat0.09)  bottle_2_tilt=17deg  eef->bottle_2=386mm [----]  bottle_2->pocket=319mm
+>> 08-11 17:15:18 [gen] step 1520: lag=20/178mm(med/max)  ORI=2deg  j2=21deg(sat0.12)  bottle_2_tilt=17deg  eef->bottle_2=203mm [----]  bottle_2->pocket=319mm
+>> 08-11 17:15:54 [gen] step 1560: lag=4/667mm(med/max)  ORI=0deg  j4=68deg(sat0.11)  bottle_2_tilt=17deg  eef->bottle_2=69mm [----]  bottle_2->pocket=319mm
+>> 08-11 17:16:30 [gen] step 1600: lag=0/631mm(med/max)  ORI=0deg  j4=68deg(sat0.11)  bottle_2_tilt=17deg  eef->bottle_2=69mm [----]  bottle_2->pocket=319mm
+>> 08-11 17:17:08 [gen] step 1640: lag=11/698mm(med/max)  ORI=0deg  j4=54deg(sat0.19)  bottle_2_tilt=17deg  eef->bottle_2=25mm [----]  bottle_2->pocket=319mm
+>> 08-11 17:17:45 [gen] step 1680: lag=1/693mm(med/max)  ORI=0deg  j4=58deg(sat0.17)  bottle_2_tilt=113deg  eef->bottle_2=28mm [grip]  bottle_2->pocket=322mm
+>> 08-11 17:18:24 [gen] step 1720: lag=1/693mm(med/max)  ORI=0deg  j4=58deg(sat0.17)  bottle_2_tilt=113deg  eef->bottle_2=28mm [grip]  bottle_2->pocket=322mm
+>> 08-11 17:19:13 [gen] step 1760: lag=14/696mm(med/max)  ORI=4deg  j4=88deg(sat0.00)  bottle_2_tilt=108deg  eef->bottle_2=138mm [----]  bottle_2->pocket=322mm
+>> 08-11 17:19:51 [gen] step 1800: lag=18/696mm(med/max)  ORI=6deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=236mm [----]  bottle_3->pocket=91mm
+>> 08-11 17:20:28 [gen] step 1840: lag=4/696mm(med/max)  ORI=7deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=137mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:21:08 [gen] step 1880: lag=9/696mm(med/max)  ORI=8deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=64mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:21:45 [gen] step 1920: lag=7/696mm(med/max)  ORI=7deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=45mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:22:30 [gen] step 1960: lag=11/696mm(med/max)  ORI=8deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=46mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:23:07 [gen] step 2000: lag=0/696mm(med/max)  ORI=8deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=46mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:23:46 [gen] step 2040: lag=16/696mm(med/max)  ORI=8deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=46mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:24:25 [gen] step 2080: lag=12/696mm(med/max)  ORI=8deg  j4=88deg(sat0.00)  bottle_1_tilt=17deg  eef->bottle_1=46mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:24:58 [wpgen/press] push_seat_2: peak press force N  all med=0.00 max=68.84  CONTACT n=239/512 med=12.43 p90=23.84 max=68.84  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:25:02 [gen] step 2120: lag=1/696mm(med/max)  ORI=8deg  j4=88deg(sat-0.00)  bottle_1_tilt=17deg  eef->bottle_1=46mm [----]  bottle_1->pocket=91mm
+>> 08-11 17:28:39 [wpgen/progress] batch 3 (cube b2): 101/512 kept  running 332/400  (1536 rollouts)
+>> 08-11 17:28:51 [gen] step 2160: lag=91/91mm(med/max)  ORI=2deg  j2=14deg(sat0.08)  bottle_1_tilt=17deg  eef->bottle_1=362mm [----]  bottle_1->pocket=302mm
+>> 08-11 17:29:36 [gen] step 2200: lag=85/195mm(med/max)  ORI=2deg  j2=23deg(sat0.13)  bottle_3_tilt=17deg  eef->bottle_3=396mm [----]  bottle_3->pocket=173mm
+>> 08-11 17:30:12 [gen] step 2240: lag=21/601mm(med/max)  ORI=1deg  j4=43deg(sat0.25)  bottle_3_tilt=17deg  eef->bottle_3=182mm [----]  bottle_3->pocket=174mm
+>> 08-11 17:30:47 [gen] step 2280: lag=4/567mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_3_tilt=17deg  eef->bottle_3=126mm [----]  bottle_3->pocket=173mm
+>> 08-11 17:31:22 [gen] step 2320: lag=0/599mm(med/max)  ORI=0deg  j4=67deg(sat0.12)  bottle_3_tilt=17deg  eef->bottle_3=126mm [----]  bottle_3->pocket=173mm
+>> 08-11 17:32:01 [gen] step 2360: lag=9/655mm(med/max)  ORI=1deg  j4=66deg(sat0.13)  bottle_3_tilt=17deg  eef->bottle_3=9mm [----]  bottle_3->pocket=172mm
+>> 08-11 17:32:37 [gen] step 2400: lag=2/667mm(med/max)  ORI=0deg  j4=64deg(sat0.14)  bottle_3_tilt=17deg  eef->bottle_3=33mm [grip]  bottle_3->pocket=148mm
+>> 08-11 17:33:35 [gen] step 2440: lag=4/664mm(med/max)  ORI=0deg  j4=64deg(sat0.13)  bottle_3_tilt=17deg  eef->bottle_3=40mm [grip]  bottle_3->pocket=148mm
+>> 08-11 17:34:10 [gen] step 2480: lag=16/664mm(med/max)  ORI=3deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=115mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:34:49 [gen] step 2520: lag=23/664mm(med/max)  ORI=7deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=207mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:35:24 [gen] step 2560: lag=6/664mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=222mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:36:00 [gen] step 2600: lag=4/664mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=222mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:36:39 [gen] step 2640: lag=6/664mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=227mm [----]  bottle_3->pocket=147mm
+>> 08-11 17:37:18 [gen] step 2680: lag=2/664mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=231mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:38:01 [gen] step 2720: lag=4/664mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_3_tilt=17deg  eef->bottle_3=231mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:38:39 [gen] step 2760: lag=6/664mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_3_tilt=17deg  eef->bottle_3=231mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:39:18 [gen] step 2800: lag=21/664mm(med/max)  ORI=2deg  j4=88deg(sat0.00)  bottle_3_tilt=17deg  eef->bottle_3=231mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:39:54 [gen] step 2840: lag=4/664mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_3_tilt=17deg  eef->bottle_3=231mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:40:07 [wpgen/press] push_seat_3: peak press force N  all med=7.62 max=138.80  CONTACT n=292/512 med=11.86 p90=21.79 max=138.80  (gate 10.00 <= f <= 30.00)
+>> 08-11 17:40:29 [gen] step 2880: lag=5/664mm(med/max)  ORI=2deg  j4=88deg(sat-0.00)  bottle_3_tilt=17deg  eef->bottle_3=231mm [----]  bottle_3->pocket=148mm
+>> 08-11 17:44:01 [wpgen/progress] batch 4 (cube b3): 123/512 kept  running 455/400  (2048 rollouts)
+>> 08-11 17:44:01 [wpgen/done] DONE (batched chunks): 455/400 kept in 2048 rollouts (4 batches of 512). success 455 | fail@[place_bottle_1 223, push_seat_1 122, grasp_bottle_1 23, motion:right_arm:j5_pos 44, place_bottle_0 272, push_seat_0 104, grasp_bottle_0 27, place_bottle_2 241, grasp_bottle_2 30, push_seat_2 133, place_bottle_3 205, push_seat_3 144, grasp_bottle_3 15, motion:right_arm:j6_cmd 6, motion:right_arm:j6_pos 3, motion:right_arm:j4_acc 1]  (fail rate 1593/2048 = 78%)
+>> 08-11 17:44:01 [wpgen/done] DISTRIBUTION of kept demos, (cube -> slot): count [attempted, keep rate]
+>> 08-11 17:44:01 [wpgen/done]     b0->s0:   26 [ 128,  20%]  b0->s1:   22 [ 128,  17%]  b0->s2:   27 [ 128,  21%]  b0->s3:   18 [ 128,  14%]   | b0 total   93
+>> 08-11 17:44:01 [wpgen/done]     b1->s0:   51 [ 128,  40%]  b1->s1:   31 [ 128,  24%]  b1->s2:   31 [ 128,  24%]  b1->s3:   25 [ 128,  20%]   | b1 total  138
+>> 08-11 17:44:01 [wpgen/done]     b2->s0:   29 [ 128,  23%]  b2->s1:   28 [ 128,  22%]  b2->s2:   22 [ 128,  17%]  b2->s3:   22 [ 128,  17%]   | b2 total  101
+>> 08-11 17:44:01 [wpgen/done]     b3->s0:   35 [ 128,  27%]  b3->s1:   35 [ 128,  27%]  b3->s2:   30 [ 128,  23%]  b3->s3:   23 [ 128,  18%]   | b3 total  123
+>> 08-11 17:44:01 [wpgen/done]     per-slot totals: s0= 141  s1= 116  s2= 110  s3=  88
+>> 08-11 17:44:01 [wpgen/done]     balance: min 18, max 51 per pair (2.8x spread over 16 pairs)  <- UNEVEN, the commonest pair dominates training
+2026-08-11T16:45:17Z [34,317ms] [Warning] [isaaclab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
+2026-08-11T16:45:17Z [34,321ms] [Warning] [omni.graph.core.plugin] OmniGraphSettings::getCudaDeviceOrdinal: unable to get a valid CUDA device id from the renderer. Defaulting to GPU0.
+2026-08-11T17:44:02Z [3,559,400ms] [Error] [omni.physx.plugin] CUDA libs are present, but no suitable CUDA GPU was found!

insert_bottles/0807_1/gen/gpu7_failed.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:184add3621de8f617352e83fa8dbead9ea962b87fb06781ecf9dc7329a2d1e17
+size 963179714

insert_bottles/0807_1/label_cull.json

@@ -0,0 +1,23 @@
+{
+ "exclude": [
+  "demo_25",
+  "demo_380",
+  "demo_404",
+  "demo_683",
+  "demo_783",
+  "demo_1047",
+  "demo_1328",
+  "demo_1343",
+  "demo_1381",
+  "demo_1605",
+  "demo_1661",
+  "demo_1962",
+  "demo_2076",
+  "demo_2108",
+  "demo_2152",
+  "demo_2759",
+  "demo_3136",
+  "demo_3396",
+  "demo_3670"
+ ]
+}

insert_bottles/0807_1/legality_audit.json

@@ -0,0 +1,70 @@
+{
+ "dataset": "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/wpgen.hdf5",
+ "demos": 3801,
+ "achieved_motion_violations": {},
+ "command_label_violations": {
+  "right_cmd:j4_cmdvel": 3,
+  "right_cmd:j4_pos": 3560,
+  "right_cmd:j5_pos": 4,
+  "right_cmd:j6_cmdvel": 11
+ },
+ "j4_cmd_past_90deg": {
+  "demos": 3565,
+  "excess_deg": {
+   "p0": 0.0049,
+   "p10": 1.1125,
+   "p50": 3.6141,
+   "p90": 6.9674,
+   "p100": 10.9887
+  },
+  "handled_by": "export clip in replay_wpgen_isaac.py (not culled)"
+ },
+ "carry_squeeze_margin_m": {
+  "p0": 0.0249,
+  "p10": 0.0252,
+  "p50": 0.0252,
+  "p90": 0.0256,
+  "p100": 0.026
+ },
+ "press_contact_min_dist_m": {
+  "p0": 0.0002,
+  "p10": 0.0022,
+  "p50": 0.0038,
+  "p90": 0.0102,
+  "p100": 0.0455
+ },
+ "press_displacement_m": {
+  "p0": 0.0,
+  "p10": 0.0,
+  "p50": 0.0004,
+  "p90": 0.0057,
+  "p100": 0.0127
+ },
+ "press_aim_lateral_m": {
+  "p0": 0.0,
+  "p10": 0.0007,
+  "p50": 0.0032,
+  "p90": 0.0096,
+  "p100": 0.0446
+ },
+ "press_aim_across_strip_m": {
+  "p0": 0.0,
+  "p10": 0.0002,
+  "p50": 0.0014,
+  "p90": 0.0082,
+  "p100": 0.0162
+ },
+ "press_aim_note": "REPORTED, not culled. Aim of the demonstrated press, TCP-to-payload in the tray frame at closest contact. A press that misses still contacts and still seats, so the generation gate cannot see this -- but BC clones the aim (see brush 0723_8 in docs/3-inspect-filter.md). Across-strip has the least margin: a bottle strip is ~17 mm across.",
+ "stream_bad": [],
+ "no_press_contact": [
+  "demo_404",
+  "demo_2108",
+  "demo_2152",
+  "demo_3136",
+  "demo_3396"
+ ],
+ "cull": {
+  "count": 19,
+  "keep": 3782
+ }
+}

insert_bottles/0807_1/render_select.txt

@@ -0,0 +1 @@
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insert_bottles/0807_1/wpgen.hdf5

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dde78d4b5877406443fff335c52e732d1c975cef80c9e41f4ae47557a6c6c75
+size 2231662676