| === Running exp_all_changes === |
| Mon May 25 03:26:24 PM PST 2026 |
|
|
| ========== |
| == CUDA == |
| ========== |
|
|
| CUDA Version 12.8.1 |
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|
| Container image Copyright (c) 2016-2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved. |
|
|
| This container image and its contents are governed by the NVIDIA Deep Learning Container License. |
| By pulling and using the container, you accept the terms and conditions of this license: |
| https://developer.nvidia.com/ngc/nvidia-deep-learning-container-license |
|
|
| A copy of this license is made available in this container at /NGC-DL-CONTAINER-LICENSE for your convenience. |
|
|
| debconf: delaying package configuration, since apt-utils is not installed |
| [INFO][AppLauncher]: Using device: cuda |
| [INFO][AppLauncher]: Loading experience file: /workspace/aicapstone/dependencies/IsaacLab/apps/isaaclab.python.headless.rendering.kit |
| [Info] [carb] Logging to file: /usr/local/lib/python3.11/dist-packages/isaacsim/kit/logs/Kit/Isaac-Sim/5.1/kit_20260525_072748.log |
| 2026-05-25T07:27:48Z [301ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-05-25T07:27:48Z [301ms] [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) |
| 2026-05-25T07:27:48Z [311ms] [Warning] [omni.platforminfo.plugin] failed to open the default display. Can't verify X Server version. |
|
|
| |---------------------------------------------------------------------------------------------| |
| | Driver Version: 580.159.03 | Graphics API: Vulkan |
| |=============================================================================================| |
| | GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID | |
| | | | | | | Device-ID | UUID | |
| | | | | | | Bus-ID | | |
| |---------------------------------------------------------------------------------------------| |
| | 0 | NVIDIA GeForce RTX 3060 | Yes: 0 | | 12534 MB | 10de | 0 | |
| | | | | | | 2504 | 032c9579.. | |
| | | | | | | 1 | | |
| |=============================================================================================| |
| | OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.17.0-29-generic |
| | Processor: Intel(R) Core(TM) i5-10500 CPU @ 3.10GHz |
| | Cores: 6 | Logical Cores: 12 |
| |---------------------------------------------------------------------------------------------| |
| | Total Memory (MB): 31934 | Free Memory: 29463 |
| | Total Page/Swap (MB): 4095 | Free Page/Swap: 0 |
| |---------------------------------------------------------------------------------------------| |
| 2026-05-25T07:27:49Z [1,228ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. |
| 2026-05-25T07:27:50Z [2,213ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-05-25T07:27:50Z [2,213ms] [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) |
| 2026-05-25T07:27:50Z [2,343ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-05-25T07:27:50Z [2,343ms] [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) |
| 2026-05-25T07:27:50Z [2,353ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-05-25T07:27:50Z [2,353ms] [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) |
| 2026-05-25T07:27:50Z [2,360ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-05-25T07:27:50Z [2,360ms] [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) |
| 2026-05-25T07:27:50Z [2,363ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-05-25T07:27:50Z [2,363ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin) |
| 2026-05-25T07:27:50Z [2,364ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. |
| 2026-05-25T07:27:50Z [2,364ms] [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) |
| 2026-05-25T07:27:50Z [2,558ms] [Warning] [omni.log] Source: omni.hydra was already registered. |
| 2026-05-25T07:27:51Z [2,866ms] [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. |
| 2026-05-25T07:27:51Z [2,877ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. |
| 2026-05-25T07:27:53Z [5,291ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead |
| 2026-05-25T07:27:53Z [5,460ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' |
| 2026-05-25T07:27:53Z [5,460ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' |
| 2026-05-25T07:27:53Z [5,460ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. |
| 2026-05-25T07:28:43Z [55,340ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 |
|
|
| [INFO]: Parsing configuration from: simulator.tasks.cutlery_arrangement.cutlery_arrangement_env_cfg:CutleryArrangementEnvCfg |
| Loaded 10 replay episodes from data/umi/test_fsm_v3/object_poses_10_shared.json |
|
|
| [36m======================================================================================[0m |
| [36m[1m[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-05-25_07-30-26.log[0m |
| [36m======================================================================================[0m |
|
|
| [33m07:30:27 [simulation_context.py] WARNING: The `enable_external_forces_every_iteration` parameter in the PhysxCfg is set to False. If you are experiencing noisy velocities, consider enabling this flag. You may need to slightly increase the number of velocity iterations (setting it to 1 or 2 rather than 0), together with this flag, to improve the accuracy of velocity updates.[0m |
| [INFO]: Base environment: |
| Environment device : cuda:0 |
| Environment seed : 1779694226 |
| Physics step-size : 0.016666666666666666 |
| Rendering step-size : 0.016666666666666666 |
| Environment step-size : 0.016666666666666666 |
| [33m07:30:29 [prims.py] WARNING: Could not perform 'modify_mass_properties' on any prims under: '/World/envs/env_0/Scene/plate'. This might be because of the following reasons: |
| (1) The desired attribute does not exist on any of the prims. |
| (2) The desired attribute exists on an instanced prim. |
| Discovered list of instanced prim paths: [][0m |
| [33m07:30:29 [prims.py] WARNING: Could not perform 'modify_mass_properties' on any prims under: '/World/envs/env_0/Scene/knife'. This might be because of the following reasons: |
| (1) The desired attribute does not exist on any of the prims. |
| (2) The desired attribute exists on an instanced prim. |
| Discovered list of instanced prim paths: [][0m |
| [33m07:30:29 [prims.py] WARNING: Could not perform 'modify_mass_properties' on any prims under: '/World/envs/env_0/Scene/fork'. This might be because of the following reasons: |
| (1) The desired attribute does not exist on any of the prims. |
| (2) The desired attribute exists on an instanced prim. |
| Discovered list of instanced prim paths: [][0m |
| [INFO]: Time taken for scene creation : 1.798379 seconds |
| [INFO]: Scene manager: <class InteractiveScene> |
| Number of environments: 1 |
| Environment spacing : 8.0 |
| 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... |
| 2026-05-25T07:30:35Z [167,452ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (371, 278) is below minimal input resolution of 300. |
| [INFO]: Time taken for simulation start : 6.544522 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 | reset_all | |
| +------------+--------------------+ |
|
|
| [INFO] Recorder Manager: <RecorderManager> contains 5 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 | |
| +-------+------------------------------------------+ |
|
|
| [INFO] Action Manager: <ActionManager> contains 2 active terms. |
| +------------------------------------+ |
| | Active Action Terms (shape: 8) | |
| +-------+----------------+-----------+ |
| | Index | Name | Dimension | |
| +-------+----------------+-----------+ |
| | 0 | arm_action | 7 | |
| | 1 | gripper_action | 1 | |
| +-------+----------------+-----------+ |
|
|
| [INFO] Observation Manager: <ObservationManager> contains 1 groups. |
| +-----------------------------------------------+ |
| | Active Observation Terms in Group: 'policy' | |
| +--------+--------------------+-----------------+ |
| | Index | Name | Shape | |
| +--------+--------------------+-----------------+ |
| | 0 | joint_pos | (9,) | |
| | 1 | joint_vel | (9,) | |
| | 2 | joint_pos_rel | (9,) | |
| | 3 | joint_vel_rel | (9,) | |
| | 4 | actions | (8,) | |
| | 5 | wrist | (480, 640, 3) | |
| | 6 | front | (480, 640, 3) | |
| | 7 | joint_pos_target | (9,) | |
| +--------+--------------------+-----------------+ |
|
|
| [INFO] Termination Manager: <TerminationManager> contains 1 active terms. |
| +----------------------------+ |
| | Active Termination Terms | |
| +-------+---------+----------+ |
| | Index | Name | Time Out | |
| +-------+---------+----------+ |
| | 0 | success | False | |
| +-------+---------+----------+ |
|
|
| [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... |
| [pose] fork: pos=(0.599, -0.172, 0.050) yaw= -0.0° |
| [pose] knife: pos=(0.503, -0.261, 0.050) yaw=+180.0° |
| Start Recording!!! |
| 2026-05-25T07:30:40Z [171,832ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning) |
| Episode failed! |
| Stop Recording!!! |
| [pose] fork: pos=(0.348, -0.264, 0.050) yaw= -0.0° |
| [pose] knife: pos=(0.475, -0.230, 0.050) yaw=+180.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_01_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] fork: pos=(0.408, -0.010, 0.050) yaw= -0.0° |
| [pose] knife: pos=(0.626, -0.034, 0.050) yaw=+180.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_02_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] knife: pos=(0.136, -0.188, 0.050) yaw=+180.0° |
| [pose] fork: pos=(0.310, -0.261, 0.050) yaw= -0.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_03_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] knife: pos=(0.138, -0.101, 0.050) yaw=+180.0° |
| [pose] fork: pos=(0.273, -0.355, 0.050) yaw= -0.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_04_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] knife: pos=(0.113, -0.284, 0.050) yaw=+180.0° |
| [pose] fork: pos=(0.137, -0.081, 0.050) yaw= -0.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_05_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] fork: pos=(0.171, -0.498, 0.050) yaw= -0.0° |
| [pose] knife: pos=(0.452, -0.561, 0.050) yaw=+180.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_06_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] fork: pos=(0.385, -0.486, 0.050) yaw= -0.0° |
| [pose] knife: pos=(0.314, -0.241, 0.050) yaw=+180.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_07_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] fork: pos=(0.133, -0.028, 0.050) yaw= -0.0° |
| [pose] knife: pos=(0.130, -0.237, 0.050) yaw=+180.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_08_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| [pose] knife: pos=(0.350, -0.499, 0.050) yaw=+180.0° |
| [pose] fork: pos=(0.383, -0.364, 0.050) yaw= -0.0° |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_09_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| Start Recording!!! |
| Episode failed! |
| Stop Recording!!! |
| Replayed all 10 episodes. Exiting the app. |
| [video] saved /workspace/aicapstone/fsm_experiments/exp_all_changes/videos/ep_10_failed.mp4 (133 frames) |
| [91m[Data Usage]1/10 fail.[0m |
| === exp_all_changes done. S=0 |
| 0 F=10 === |
|
|
