=== eval mixed ===
[baseline_mixed] Eval ckpt=/home/haohw/ManiSkill/examples/baselines/diffusion_policy/runs/dp_1pillar_v2_30demo_mixed/checkpoints/best_val_loss.pt
[baseline_mixed] 50 seeds [100..149], gpu=7, workers=8
2026-05-04 05:19:10,759 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:10,761 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:10,761 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:19:11.606] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:11.633] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:11.634] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:12,836 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:12,942 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:12,974 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:19:13.670] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:13.734] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:13.751] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:14,932 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:19:15.551] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:16,147 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:19:16.769] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:20,635 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:20,737 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:21.071] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:21.133] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:21,893 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:22.214] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:24,556 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:24.895] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:25,695 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:26.189] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:28,154 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:28,409 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:28.456] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:28.787] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:31,721 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:31,772 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:31,895 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:32.051] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:32.278] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:32.451] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:35,045 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:35.352] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:38,701 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:39.185] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:39,256 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:39.746] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:40,871 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:41.210] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:41,227 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:41.573] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:42,062 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:42.543] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:42,704 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:43.085] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:49,170 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:49.729] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:52,111 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:52.658] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:57,128 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:57,509 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:19:57.648] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:19:58.164] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:19:59,476 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:19:59,625 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:00.167] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:20:00.315] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:00,552 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:20:00,881 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:01.315] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:20:01.486] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:01,559 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:02.180] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:06,156 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:06.802] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:11,717 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:12.210] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:14,197 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:20:14,695 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:14.722] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:20:15.449] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:15,718 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:16.228] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:17,449 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:17.955] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:19,016 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:19.717] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:20,681 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:21.339] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:23,196 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:23.592] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:31,332 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:31.839] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:33,019 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:20:33,250 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:33.526] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:20:33.906] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:35,485 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:36.061] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:37,301 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:37.853] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:40,376 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:40.943] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:20:52,137 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:20:52.547] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
[baseline_mixed] seed 100: OK mode=left_gap steps=475
[baseline_mixed] seed 101: FAIL mode=left_gap steps=600
[baseline_mixed] seed 102: OK mode=left_gap steps=291
[baseline_mixed] seed 103: OK mode=right_gap steps=429
[baseline_mixed] seed 104: OK mode=right_gap steps=299
[baseline_mixed] seed 105: FAIL mode=left_gap steps=600
[baseline_mixed] seed 106: FAIL mode=right_gap steps=600
[baseline_mixed] seed 107: OK mode=left_gap steps=378
[baseline_mixed] seed 108: FAIL mode=right_gap steps=600
[baseline_mixed] seed 109: FAIL mode=left_gap steps=600
[baseline_mixed] seed 110: OK mode=left_gap steps=433
[baseline_mixed] seed 111: FAIL mode=left_gap steps=600
[baseline_mixed] seed 112: OK mode=middle steps=202
[baseline_mixed] seed 113: OK mode=left_gap steps=377
[baseline_mixed] seed 114: FAIL mode=left_gap steps=600
[baseline_mixed] seed 115: OK mode=right_gap steps=308
[baseline_mixed] seed 116: OK mode=right_gap steps=344
[baseline_mixed] seed 117: FAIL mode=middle steps=600
[baseline_mixed] seed 118: FAIL mode=right_gap steps=600
[baseline_mixed] seed 119: OK mode=middle steps=214
[baseline_mixed] seed 120: FAIL mode=left_gap steps=600
[baseline_mixed] seed 121: OK mode=right_gap steps=388
[baseline_mixed] seed 122: FAIL mode=left_gap steps=600
[baseline_mixed] seed 123: OK mode=left_gap steps=376
[baseline_mixed] seed 124: OK mode=left_gap steps=566
[baseline_mixed] seed 125: OK mode=left_gap steps=535
[baseline_mixed] seed 126: FAIL mode=left_gap steps=600
[baseline_mixed] seed 127: FAIL mode=left_gap steps=600
[baseline_mixed] seed 128: FAIL mode=left_gap steps=600
[baseline_mixed] seed 129: OK mode=left_gap steps=446
[baseline_mixed] seed 130: FAIL mode=left_gap steps=600
[baseline_mixed] seed 131: OK mode=left_gap steps=345
[baseline_mixed] seed 132: OK mode=left_gap steps=371
[baseline_mixed] seed 133: FAIL mode=left_gap steps=600
[baseline_mixed] seed 134: OK mode=right_gap steps=428
[baseline_mixed] seed 135: FAIL mode=left_gap steps=600
[baseline_mixed] seed 136: OK mode=right_gap steps=484
[baseline_mixed] seed 137: FAIL mode=left_gap steps=600
[baseline_mixed] seed 138: FAIL mode=right_gap steps=600
[baseline_mixed] seed 139: OK mode=right_gap steps=346
[baseline_mixed] seed 140: OK mode=right_gap steps=515
[baseline_mixed] seed 141: OK mode=right_gap steps=400
[baseline_mixed] seed 142: OK mode=middle steps=423
[baseline_mixed] seed 143: OK mode=left_gap steps=581
[baseline_mixed] seed 144: OK mode=left_gap steps=442
[baseline_mixed] seed 145: OK mode=right_gap steps=413
[baseline_mixed] seed 146: OK mode=left_gap steps=546
[baseline_mixed] seed 147: FAIL mode=right_gap steps=600
[baseline_mixed] seed 148: FAIL mode=left_gap steps=600
[baseline_mixed] seed 149: FAIL mode=left_gap steps=600

=== Results (50 seeds) [baseline_mixed] ===
SR: 28/50 = 56.0%
Success left_gap: 14/50 = 28.0%
Success right_gap: 11/50 = 22.0%
Success middle: 3/50 = 6.0%
Mode distribution (all 50): left_gap=30 right_gap=16 middle=4
Of-success purity: left_gap=14/28 (50%) right_gap=11/28 (39%) middle=3/28 (11%)

=== eval lg ===
[baseline_lg] Eval ckpt=/home/haohw/ManiSkill/examples/baselines/diffusion_policy/runs/dp_1pillar_v2_30demo_lg/checkpoints/best_val_loss.pt
[baseline_lg] 50 seeds [100..149], gpu=7, workers=8
2026-05-04 05:21:56,690 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:21:56,780 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:21:56,797 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:21:57,019 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:21:58.138] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:21:58.597] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:21:58.655] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:21:58.878] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:21:58,911 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:21:59,281 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:22:01.081] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:22:01.085] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:04,214 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:22:04,254 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:22:05.313] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:22:05.336] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:16,232 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:16.818] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:17,297 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:17.939] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:18,714 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:22:18,929 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:19.129] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:19,383 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:22:19,456 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:19.498] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:22:20.047] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:22:20.085] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:21,777 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:22.269] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:26,339 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:27.058] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:30,443 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:30.930] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:34,327 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:34.721] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:35,424 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:22:35,773 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:35.778] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:36,237 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:36.327] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:22:36.814] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:38,884 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:39.433] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:40,736 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:41.238] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:44,073 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:44.567] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:45,707 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:46.265] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:49,547 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:50.042] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:50,117 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:50.604] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:55,431 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:55.778] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:56,086 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:56.491] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:57,020 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:57.332] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:22:59,435 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:22:59.755] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:01,216 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:01.591] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:02,750 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:03.162] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:06,555 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:06.881] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:07,105 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:07.632] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:10,582 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:23:10,747 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:10.879] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:23:11.073] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:11,172 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:11.473] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:13,994 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:14.295] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:15,126 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:15.439] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:15,624 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:15.973] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:17,441 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:17.795] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:20,058 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:20.330] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:22,283 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:22.659] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:22,686 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:23.005] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:24,910 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:23:25,090 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:25.223] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:23:25.411] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:25,753 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:26.092] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:28,486 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:28.829] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:23:36,494 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:23:36.779] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
number of parameters: 4.34M
[baseline_lg] seed 100: FAIL mode=left_gap steps=600
[baseline_lg] seed 101: OK mode=left_gap steps=275
[baseline_lg] seed 102: FAIL mode=left_gap steps=600
[baseline_lg] seed 103: FAIL mode=left_gap steps=600
[baseline_lg] seed 104: OK mode=left_gap steps=561
[baseline_lg] seed 105: OK mode=left_gap steps=427
[baseline_lg] seed 106: OK mode=left_gap steps=532
[baseline_lg] seed 107: OK mode=left_gap steps=462
[baseline_lg] seed 108: OK mode=left_gap steps=374
[baseline_lg] seed 109: FAIL mode=left_gap steps=600
[baseline_lg] seed 110: FAIL mode=left_gap steps=600
[baseline_lg] seed 111: FAIL mode=left_gap steps=600
[baseline_lg] seed 112: OK mode=middle steps=257
[baseline_lg] seed 113: OK mode=left_gap steps=570
[baseline_lg] seed 114: FAIL mode=left_gap steps=600
[baseline_lg] seed 115: FAIL mode=left_gap steps=600
[baseline_lg] seed 116: FAIL mode=left_gap steps=600
[baseline_lg] seed 117: FAIL mode=left_gap steps=600
[baseline_lg] seed 118: OK mode=middle steps=258
[baseline_lg] seed 119: FAIL mode=left_gap steps=600
[baseline_lg] seed 120: FAIL mode=left_gap steps=600
[baseline_lg] seed 121: FAIL mode=left_gap steps=600
[baseline_lg] seed 122: OK mode=left_gap steps=434
[baseline_lg] seed 123: FAIL mode=left_gap steps=600
[baseline_lg] seed 124: FAIL mode=left_gap steps=600
[baseline_lg] seed 125: FAIL mode=left_gap steps=600
[baseline_lg] seed 126: FAIL mode=left_gap steps=600
[baseline_lg] seed 127: FAIL mode=left_gap steps=600
[baseline_lg] seed 128: FAIL mode=left_gap steps=600
[baseline_lg] seed 129: FAIL mode=left_gap steps=600
[baseline_lg] seed 130: FAIL mode=left_gap steps=600
[baseline_lg] seed 131: FAIL mode=left_gap steps=600
[baseline_lg] seed 132: FAIL mode=left_gap steps=600
[baseline_lg] seed 133: FAIL mode=left_gap steps=600
[baseline_lg] seed 134: OK mode=left_gap steps=308
[baseline_lg] seed 135: FAIL mode=left_gap steps=600
[baseline_lg] seed 136: FAIL mode=left_gap steps=600
[baseline_lg] seed 137: OK mode=left_gap steps=565
[baseline_lg] seed 138: FAIL mode=left_gap steps=600
[baseline_lg] seed 139: FAIL mode=left_gap steps=600
[baseline_lg] seed 140: FAIL mode=left_gap steps=600
[baseline_lg] seed 141: OK mode=left_gap steps=424
[baseline_lg] seed 142: OK mode=left_gap steps=321
[baseline_lg] seed 143: OK mode=left_gap steps=297
[baseline_lg] seed 144: OK mode=left_gap steps=319
[baseline_lg] seed 145: OK mode=left_gap steps=362
[baseline_lg] seed 146: OK mode=left_gap steps=311
[baseline_lg] seed 147: OK mode=left_gap steps=561
[baseline_lg] seed 148: OK mode=left_gap steps=306
[baseline_lg] seed 149: FAIL mode=left_gap steps=600

=== Results (50 seeds) [baseline_lg] ===
SR: 20/50 = 40.0%
Success left_gap: 18/50 = 36.0%
Success right_gap: 0/50 = 0.0%
Success middle: 2/50 = 4.0%
Mode distribution (all 50): left_gap=48 right_gap=0 middle=2
Of-success purity: left_gap=18/20 (90%) right_gap=0/20 (0%) middle=2/20 (10%)

=== eval rg ===
[baseline_rg] Eval ckpt=/home/haohw/ManiSkill/examples/baselines/diffusion_policy/runs/dp_1pillar_v2_30demo_rg/checkpoints/best_val_loss.pt
[baseline_rg] 50 seeds [100..149], gpu=7, workers=8
2026-05-04 05:24:27,359 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:27,372 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:27,682 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:28,739 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:29,007 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:24:29.516] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:24:29,525 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:24:29.532] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:29.597] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:29.759] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:24:30.149] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:24:30.832] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:24:32,539 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:33,045 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:24:33.314] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
/opt/conda/lib/python3.10/site-packages/torch/random.py:187: UserWarning: CUDA reports that you have 8 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
  warnings.warn(message)
[2026-05-04 05:24:33.806] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:24:39,104 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:39,139 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
[2026-05-04 05:24:39.431] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:39.496] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
2026-05-04 05:24:45,298 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:45,312 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:45,593 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:45,598 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:46,607 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
2026-05-04 05:24:48,954 - mani_skill  - WARNING - panda_wristcam is not in the task's list of supported robots. Code may not run as intended
Process SpawnPoolWorker-8:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
Process SpawnPoolWorker-7:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
[2026-05-04 05:24:57.201] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:57.210] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:57.296] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:57.296] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:57.296] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
[2026-05-04 05:24:57.302] [SAPIEN] [warning] A PhysX CPU system is being created while PhysX GPU is enabled. You can safely ignore this message if it is intended. To use GPU PhysX, create a sapien.physx.PhysxGpuSystem explicitly and pass it to sapien.Scene constructor.
Process SpawnPoolWorker-3:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
Process SpawnPoolWorker-6:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
Process SpawnPoolWorker-1:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
Process SpawnPoolWorker-5:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
Process SpawnPoolWorker-4:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
Process SpawnPoolWorker-2:
Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 131, in worker
    put((job, i, result))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/opt/conda/lib/python3.10/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/conda/lib/python3.10/multiprocessing/pool.py", line 136, in worker
    put((job, i, (False, wrapped)))
  File "/opt/conda/lib/python3.10/multiprocessing/queues.py", line 377, in put
    self._writer.send_bytes(obj)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 200, in send_bytes
    self._send_bytes(m[offset:offset + size])
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 411, in _send_bytes
    self._send(header + buf)
  File "/opt/conda/lib/python3.10/multiprocessing/connection.py", line 368, in _send
    n = write(self._handle, buf)
BrokenPipeError: [Errno 32] Broken pipe
number of parameters: 4.34M
number of parameters: 4.34M
/opt/conda/lib/python3.10/multiprocessing/resource_tracker.py:224: UserWarning: resource_tracker: There appear to be 6 leaked semaphore objects to clean up at shutdown
  warnings.warn('resource_tracker: There appear to be %d '