diff --git a/diffusion-v3-fixed_spoon_horizen25.log b/diffusion-v3-fixed_spoon_horizen25.log new file mode 100644 index 0000000000000000000000000000000000000000..b29ec50c3c5bc4a65cf2f13faa220afedc87f080 --- /dev/null +++ b/diffusion-v3-fixed_spoon_horizen25.log @@ -0,0 +1,5245 @@ +=== Starting rollout in Docker === +Model dir: experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model +Task: HCIS-DiningCleanup-SingleArm-v0 +Dining cleanup config: configs/dining_cleanup/spoon_fixed_yaw.json +Video dir: experiments/advance/diffusion-v3/rollout_200000_20260610_143607_videos +Wed Jun 10 02:36:07 PM PST 2026 + +========== +== CUDA == +========== + +CUDA Version 12.8.1 + +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. + +===== stop old rollout ===== +===== verify no old rollout remains ===== +== GPU == +Wed Jun 10 06:36:10 2026 ++-----------------------------------------------------------------------------------------+ +| NVIDIA-SMI 580.159.03 Driver Version: 580.159.03 CUDA Version: 13.0 | ++-----------------------------------------+------------------------+----------------------+ +| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC | +| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. | +| | | MIG M. | +|=========================================+========================+======================| +| 0 NVIDIA GeForce RTX 3060 On | 00000000:01:00.0 Off | N/A | +| 0% 44C P8 17W / 170W | 101MiB / 12288MiB | 0% Default | +| | | N/A | ++-----------------------------------------+------------------------+----------------------+ + ++-----------------------------------------------------------------------------------------+ +| Processes: | +| GPU GI CI PID Type Process name GPU Memory | +| ID ID Usage | +|=========================================================================================| +| No running processes found | ++-----------------------------------------------------------------------------------------+ +===== env ===== +VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json +===== ffmpeg ===== +debconf: delaying package configuration, since apt-utils is not installed +(Reading database ... 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intel-media-va-driver:amd64 (22.3.1+dfsg1-1ubuntu2) ... +Selecting previously unselected package libaacs0:amd64. +Preparing to unpack .../096-libaacs0_0.11.1-1_amd64.deb ... +Unpacking libaacs0:amd64 (0.11.1-1) ... +Selecting previously unselected package libbdplus0:amd64. +Preparing to unpack .../097-libbdplus0_0.2.0-1_amd64.deb ... +Unpacking libbdplus0:amd64 (0.2.0-1) ... +Selecting previously unselected package libdecor-0-plugin-1-cairo:amd64. +Preparing to unpack .../098-libdecor-0-plugin-1-cairo_0.1.0-3build1_amd64.deb ... +Unpacking libdecor-0-plugin-1-cairo:amd64 (0.1.0-3build1) ... +Selecting previously unselected package librsvg2-common:amd64. +Preparing to unpack .../099-librsvg2-common_2.52.5+dfsg-3ubuntu0.2_amd64.deb ... +Unpacking librsvg2-common:amd64 (2.52.5+dfsg-3ubuntu0.2) ... +Selecting previously unselected package mesa-va-drivers:amd64. +Preparing to unpack .../100-mesa-va-drivers_23.2.1-1ubuntu3.1~22.04.3_amd64.deb ... +Unpacking mesa-va-drivers:amd64 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(0.8.0+real5prealpha+1-14ubuntu1) ... +Setting up libgme0:amd64 (0.6.3-2) ... +Setting up libssh-gcrypt-4:amd64 (0.9.6-2ubuntu0.22.04.7) ... +Setting up libsrt1.4-gnutls:amd64 (1.4.4-4) ... +Setting up libudfread0:amd64 (1.1.2-1) ... +Setting up libaom3:amd64 (3.3.0-1ubuntu0.1) ... +Setting up librabbitmq4:amd64 (0.10.0-1ubuntu2) ... +Setting up libraw1394-11:amd64 (2.1.2-2build2) ... +Setting up libcodec2-1.0:amd64 (1.0.1-3) ... +Setting up libsodium23:amd64 (1.0.18-1ubuntu0.22.04.1) ... +Setting up libmpg123-0:amd64 (1.29.3-1ubuntu0.1) ... +Setting up libogg0:amd64 (1.3.5-0ubuntu3) ... +Setting up libspeex1:amd64 (1.2~rc1.2-1.1ubuntu3) ... +Setting up libshine3:amd64 (3.1.1-2) ... +Setting up libtwolame0:amd64 (0.4.0-2build2) ... +Setting up libgsm1:amd64 (1.0.19-1) ... +Setting up libpgm-5.3-0:amd64 (5.3.128~dfsg-2) ... +Setting up libnorm1:amd64 (1.5.9+dfsg-2) ... +Setting up libmysofa1:amd64 (1.2.1~dfsg0-1) ... +Setting up libxcb-shape0:amd64 (1.14-3ubuntu3) ... +Setting up libigdgmm12:amd64 (22.1.2+ds1-1) ... +Setting up libgomp1:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up libcdio19:amd64 (2.1.0-3ubuntu0.2) ... +Setting up libxvidcore4:amd64 (2:1.3.7-1) ... +Setting up libsnappy1v5:amd64 (1.1.8-1build3) ... +Setting up libflac8:amd64 (1.3.3-2ubuntu0.2) ... +Setting up librsvg2-2:amd64 (2.52.5+dfsg-3ubuntu0.2) ... +Setting up libblas3:amd64 (3.10.0-2ubuntu1) ... +update-alternatives: using /usr/lib/x86_64-linux-gnu/blas/libblas.so.3 to provide /usr/lib/x86_64-linux-gnu/libblas.so.3 (libblas.so.3-x86_64-linux-gnu) in auto mode +Setting up libass9:amd64 (1:0.15.2-1) ... +Setting up libslang2:amd64 (2.3.2-5build4) ... +Setting up libva2:amd64 (2.14.0-1) ... +Setting up libx264-163:amd64 (2:0.163.3060+git5db6aa6-2build1) ... +Setting up libopus0:amd64 (1.3.1-0.1build2) ... +Setting up libquadmath0:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up intel-media-va-driver:amd64 (22.3.1+dfsg1-1ubuntu2) ... +Setting up libxv1:amd64 (2:1.0.11-1build2) ... +Setting up libatomic1:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up libvorbis0a:amd64 (1.3.7-1build2) ... +Setting up libaacs0:amd64 (0.11.1-1) ... +Setting up librsvg2-common:amd64 (2.52.5+dfsg-3ubuntu0.2) ... +Setting up pocketsphinx-en-us (0.8.0+real5prealpha+1-14ubuntu1) ... +Setting up libgfortran5:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up libubsan1:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up libsndio7.0:amd64 (1.8.1-1.1) ... +Setting up libbdplus0:amd64 (0.2.0-1) ... +Setting up libnuma1:amd64 (2.0.14-3ubuntu2) ... +Setting up libvidstab1.1:amd64 (1.1.0-2) ... +Setting up libflite1:amd64 (2.2-3) ... +Setting up libva-drm2:amd64 (2.14.0-1) ... +Setting up ocl-icd-libopencl1:amd64 (2.2.14-3) ... +Setting up libasyncns0:amd64 (0.8-6build2) ... +Setting up libvdpau1:amd64 (1.4-3build2) ... +Setting up libbs2b0:amd64 (3.1.0+dfsg-2.2build1) ... +Setting up libtheora0:amd64 (1.1.1+dfsg.1-15ubuntu4) ... +Setting up libdecor-0-0:amd64 (0.1.0-3build1) ... +Setting up libzimg2:amd64 (3.0.3+ds1-1) ... +Setting up libopenjp2-7:amd64 (2.4.0-6ubuntu0.5) ... +Setting up libopenal-data (1:1.19.1-2build3) ... +Setting up libvpx7:amd64 (1.11.0-2ubuntu2.5) ... +Setting up libxss1:amd64 (1:1.2.3-1build2) ... +Setting up libusb-1.0-0:amd64 (2:1.0.25-1ubuntu2) ... +Setting up mesa-va-drivers:amd64 (23.2.1-1ubuntu3.1~22.04.3) ... +Setting up libdav1d5:amd64 (0.9.2-1) ... +Setting up libmfx1:amd64 (22.3.0-1) ... +Setting up libbluray2:amd64 (1:1.3.1-1) ... +Setting up libsamplerate0:amd64 (0.2.2-1build1) ... +Setting up libva-x11-2:amd64 (2.14.0-1) ... +Setting up libwebpmux3:amd64 (1.2.2-2ubuntu0.22.04.2) ... +Setting up libcc1-0:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up libzvbi-common (0.2.35-19) ... +Setting up liblsan0:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up libmp3lame0:amd64 (3.100-3build2) ... +Setting up libitm1:amd64 (12.3.0-1ubuntu1~22.04.3) ... +Setting up i965-va-driver:amd64 (2.4.1+dfsg1-1) ... +Setting up libvorbisenc2:amd64 (1.3.7-1build2) ... +Setting up libiec61883-0:amd64 (1.2.0-4build3) ... +Setting up libserd-0-0:amd64 (0.30.10-2) ... +Setting up libavc1394-0:amd64 (0.5.4-5build2) ... +Setting up mesa-vdpau-drivers:amd64 (23.2.1-1ubuntu3.1~22.04.3) ... +Setting up libzvbi0:amd64 (0.2.35-19) ... +Setting up liblapack3:amd64 (3.10.0-2ubuntu1) ... +update-alternatives: using /usr/lib/x86_64-linux-gnu/lapack/liblapack.so.3 to provide /usr/lib/x86_64-linux-gnu/liblapack.so.3 (liblapack.so.3-x86_64-linux-gnu) in auto mode +Setting up libzmq5:amd64 (4.3.4-2) ... +Setting up libcaca0:amd64 (0.99.beta19-2.2ubuntu4.2) ... +Setting up libsoxr0:amd64 (0.1.3-4build2) ... +Setting up libcdio-cdda2:amd64 (10.2+2.0.0-1build3) ... +Setting up libcdio-paranoia2:amd64 (10.2+2.0.0-1build3) ... +Setting up libopenal1:amd64 (1:1.19.1-2build3) ... +Setting up libavutil56:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up libvorbisfile3:amd64 (1.3.7-1build2) ... +Setting up va-driver-all:amd64 (2.14.0-1) ... +Setting up libdc1394-25:amd64 (2.2.6-4) ... +Setting up libdecor-0-plugin-1-cairo:amd64 (0.1.0-3build1) ... +Setting up libpostproc55:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up libx265-199:amd64 (3.5-2) ... +Setting up librubberband2:amd64 (2.0.0-2) ... +Setting up libjack-jackd2-0:amd64 (1.9.20~dfsg-1) ... +Setting up vdpau-driver-all:amd64 (1.4-3build2) ... +Setting up libsord-0-0:amd64 (0.16.8-2) ... +Setting up libsratom-0-0:amd64 (0.6.8-1) ... +Setting up libswscale5:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up libsndfile1:amd64 (1.0.31-2ubuntu0.2) ... +Setting up liblilv-0-0:amd64 (0.24.12-2) ... +Setting up libopenmpt0:amd64 (0.6.1-1) ... +Setting up libpulse0:amd64 (1:15.99.1+dfsg1-1ubuntu2.2) ... +Setting up libswresample3:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up libavcodec58:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up libsdl2-2.0-0:amd64 (2.0.20+dfsg-2ubuntu1.22.04.1) ... +Setting up libchromaprint1:amd64 (1.5.1-2) ... +Setting up libsphinxbase3:amd64 (0.8+5prealpha+1-13build1) ... +Setting up libavformat58:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up libpocketsphinx3:amd64 (0.8.0+real5prealpha+1-14ubuntu1) ... +Setting up libavfilter7:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up libavdevice58:amd64 (7:4.4.2-0ubuntu0.22.04.1) ... +Setting up ffmpeg (7:4.4.2-0ubuntu0.22.04.1) ... +Processing triggers for libgdk-pixbuf-2.0-0:amd64 (2.42.8+dfsg-1ubuntu0.5) ... +Processing triggers for libc-bin (2.35-0ubuntu3.8) ... +===== tqdm ===== +tqdm ok: 4.67.3 +===== model ===== +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_postprocessor.json:9: "action": { +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_postprocessor.json:10: "type": "ACTION", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_postprocessor.json:19: "ACTION": "MIN_MAX" +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:2: "type": "diffusion", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:6: "type": "STATE", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:12: "type": "VISUAL", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:20: "type": "VISUAL", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:29: "action": { +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:30: "type": "ACTION", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:40: "repo_id": "AI-Final/advanced-diffusion-v3", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:46: "n_action_steps": 8, +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:50: "ACTION": "MIN_MAX" +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/config.json:69: "diffusion_step_embed_dim": 128, +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_preprocessor.json:27: "type": "STATE", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_preprocessor.json:33: "type": "VISUAL", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_preprocessor.json:41: "type": "VISUAL", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_preprocessor.json:48: "action": { +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_preprocessor.json:49: "type": "ACTION", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/policy_preprocessor.json:58: "ACTION": "MIN_MAX" +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:13: "type": "ColorJitter", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:23: "type": "ColorJitter", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:33: "type": "ColorJitter", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:43: "type": "ColorJitter", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:53: "type": "SharpnessJitter", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:63: "type": "RandomAffine", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:84: "type": "diffusion", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:88: "type": "STATE", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:94: "type": "VISUAL", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:102: "type": "VISUAL", +/workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model/train_config.json:111: "action": { +===== rollout ===== +LOG=/workspace/aicapstone/experiments/advance/diffusion-v3/rollout_200000_20260610_143607.log +VIDEO_DIR=/workspace/aicapstone/experiments/advance/diffusion-v3/rollout_200000_20260610_143607_videos +[rollout] using Dining Cleanup config: configs/dining_cleanup/spoon_fixed_yaw.json +[rollout] object_poses: data/dining_clean/dining_cleanup_object_poses_500.json +[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_20260610_063749.log +2026-06-10T06:37:54Z [5,216ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-06-10T06:37:54Z [5,216ms] [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) +2026-06-10T06:37:54Z [5,288ms] [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: 28586 +| Total Page/Swap (MB): 4095 | Free Page/Swap: 0 +|---------------------------------------------------------------------------------------------| +2026-06-10T06:37:58Z [9,217ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance. +2026-06-10T06:38:04Z [15,369ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-06-10T06:38:04Z [15,369ms] [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) +2026-06-10T06:38:04Z [15,665ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-06-10T06:38:04Z [15,665ms] [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) +2026-06-10T06:38:04Z [15,674ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-06-10T06:38:04Z [15,674ms] [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) +2026-06-10T06:38:04Z [15,850ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-06-10T06:38:04Z [15,850ms] [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) +2026-06-10T06:38:04Z [15,853ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-06-10T06:38:04Z [15,853ms] [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) +2026-06-10T06:38:04Z [15,854ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed. +2026-06-10T06:38:04Z [15,854ms] [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) +2026-06-10T06:38:07Z [18,352ms] [Warning] [omni.log] Source: omni.hydra was already registered. +2026-06-10T06:38:11Z [22,679ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: ), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-06-10T06:38:11Z [22,806ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-06-10T06:38:29Z [40,198ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-06-10T06:38:33Z [44,330ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-06-10T06:38:33Z [44,330ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-06-10T06:38:33Z [44,348ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-06-10T06:39:32Z [102,890ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[DiningCleanupCfg] loaded configs/dining_cleanup/spoon_fixed_yaw.json +[INFO]: Parsing configuration from: simulator.tasks.dining_cleanup.dining_cleanup_env_cfg:DiningCleanupEnvCfg +[rollout] loaded 500 object pose episodes from data/dining_clean/dining_cleanup_object_poses_500.json + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-10_06-41-40.log +====================================================================================== + +06:41:41 [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 : 2026061011 + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.016666666666666666 + Environment step-size : 0.016666666666666666 +[INFO]: Time taken for scene creation : 2.107488 seconds +[INFO]: Scene manager: + 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... +2026-06-10T06:41:59Z [249,948ms] [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 : 17.193590 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++---------------------------------+ +| Active Event Terms in Mode: 'reset' | ++------------+--------------------+ +| Index | Name | ++------------+--------------------+ +| 0 | reset_all | ++------------+--------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 8) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 7 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +[rollout] warming up renderer (20 app updates)... +[rollout] resetting environment... +[rollout] env.reset() returned +[rollout] applying object pose episode 1/500 + [eval pose] bowl: pos=(0.175, -0.461, 0.050) + [eval pose] spoon: pos=(0.120, -0.250, 0.050) +[rollout][wipe_mesh] initialized mesh for 1 env(s) (22×40 bins) +[rollout] camera_infos = {'wrist': (480, 640), 'front': (480, 640)}; loading policy... +Loading local LeRobot policy 'diffusion' from /workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model... +[rollout] stripped LeRobot-incompatible config fields: ['use_peft', 'resize_shape', 'crop_ratio', 'compile_model', 'compile_mode'] +Loading weights from local directory +Local LeRobot policy is ready. +[rollout] headless mode: skipping GUI viewport setup +[video] recording rollout videos to /workspace/aicapstone/experiments/advance/diffusion-v3/rollout_200000_20260610_143607_videos from cameras=['wrist', 'front'] at 30 fps +[progress] total episodes=30, episode budget=4800 steps (80s at 60Hz) + Evaluation: 0%| | 0/30 [00:00), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client. +2026-06-11T07:15:28Z [39,882ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users. +2026-06-11T07:15:51Z [63,365ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead +2026-06-11T07:15:55Z [66,854ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader' +2026-06-11T07:15:55Z [66,854ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core' +2026-06-11T07:15:55Z [66,865ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly. +2026-06-11T07:16:56Z [128,023ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 7 + +[DiningCleanupCfg] loaded configs/dining_cleanup/spoon_fixed_yaw.json +[INFO]: Parsing configuration from: simulator.tasks.dining_cleanup.dining_cleanup_env_cfg:DiningCleanupEnvCfg +[rollout] loaded 500 object pose episodes from data/dining_clean/dining_cleanup_object_poses_500.json + +====================================================================================== +[INFO][IsaacLab]: Logging to file: /tmp/isaaclab/logs/isaaclab_2026-06-11_07-19-09.log +====================================================================================== + +07:19:11 [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 : 2026061011 + Physics step-size : 0.016666666666666666 + Rendering step-size : 0.016666666666666666 + Environment step-size : 0.016666666666666666 +[INFO]: Time taken for scene creation : 2.265927 seconds +[INFO]: Scene manager: + 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... +2026-06-11T07:19:28Z [279,949ms] [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 : 18.034622 seconds +[INFO] Command Manager: contains 0 active terms. ++------------------------+ +| Active Command Terms | ++--------+-------+-------+ +| Index | Name | Type | ++--------+-------+-------+ ++--------+-------+-------+ + +[INFO] Event Manager: contains 1 active terms. ++---------------------------------+ +| Active Event Terms in Mode: 'reset' | ++------------+--------------------+ +| Index | Name | ++------------+--------------------+ +| 0 | reset_all | ++------------+--------------------+ + +[INFO] Recorder Manager: contains 0 active terms. ++---------------------+ +| Active Recorder Terms | ++-----------+---------+ +| Index | Name | ++-----------+---------+ ++-----------+---------+ + +[INFO] Action Manager: contains 2 active terms. ++------------------------------------+ +| Active Action Terms (shape: 8) | ++-------+----------------+-----------+ +| Index | Name | Dimension | ++-------+----------------+-----------+ +| 0 | arm_action | 7 | +| 1 | gripper_action | 1 | ++-------+----------------+-----------+ + +[INFO] Observation Manager: 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: contains 2 active terms. ++-----------------------------+ +| Active Termination Terms | ++-------+----------+----------+ +| Index | Name | Time Out | ++-------+----------+----------+ +| 0 | time_out | True | +| 1 | success | False | ++-------+----------+----------+ + +[INFO] Reward Manager: contains 0 active terms. ++-----------------------+ +| Active Reward Terms | ++-------+------+--------+ +| Index | Name | Weight | ++-------+------+--------+ ++-------+------+--------+ + +[INFO] Curriculum Manager: contains 0 active terms. ++----------------------+ +| Active Curriculum Terms | ++-----------+----------+ +| Index | Name | ++-----------+----------+ ++-----------+----------+ + +[INFO]: Completed setting up the environment... +[rollout] warming up renderer (20 app updates)... +[rollout] resetting environment... +[rollout] env.reset() returned +[rollout] applying object pose episode 1/500 + [eval pose] bowl: pos=(0.175, -0.461, 0.050) + [eval pose] spoon: pos=(0.120, -0.250, 0.050) +[rollout][wipe_mesh] initialized mesh for 1 env(s) (22×40 bins) +[rollout] camera_infos = {'wrist': (480, 640), 'front': (480, 640)}; loading policy... +Loading local LeRobot policy 'diffusion' from /workspace/aicapstone/experiments/advance/diffusion-v3/checkpoint/checkpoints/200000/pretrained_model... +Loading weights from local directory +Local LeRobot policy is ready. +[rollout] headless mode: skipping GUI viewport setup +[video] recording rollout videos to /workspace/aicapstone/experiments/advance/diffusion-v3/rollout_200000_20260611_151051_videos from cameras=['wrist', 'front'] at 30 fps +[progress] total episodes=30, episode budget=4800 steps (80s at 60Hz) + Evaluation: 0%| | 0/30 [00:00