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benchgen_lerobot_dataset_filtered

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1
+ 2026-03-11 17:44:39,132 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_000
2
+ 2026-03-11 17:44:52,171 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:44:55,879 [INFO] gs_gym.envs.benchgen.loader: Collected 47 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:44:55,879 [INFO] __main__: Loaded 47 trajectories for export
5
+ 2026-03-11 17:44:56,138 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:44:56,138 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:44:56,147 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:44:56,148 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:44:56,148 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:44:56,855 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:44:56,855 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:00,671 [INFO] genesis: Scene ~~~<<84f3a7b>>~~~ created.
13
+ 2026-03-11 17:45:00,671 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<4f67f9f>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:00,760 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:01,591 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<e8130b8>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:03,299 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:03,352 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:03,765 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:04,140 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:04,817 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:05,724 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:06,402 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:06,865 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:07,574 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
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+ 2026-03-11 17:45:08,299 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:08,747 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:09,351 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:10,114 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:10,745 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:11,614 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:12,723 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:13,316 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<81a5c94>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:13,341 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:13,356 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:13,774 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<c826cce>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:13,862 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:13,882 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:13,895 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:23,570 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:24,272 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:24,884 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:25,453 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<e8168e8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:25,563 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:25,595 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:25,609 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:34,673 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:34,788 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:34,935 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:35,162 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:35,248 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:35,407 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<d565282>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:35,503 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:35,518 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:35,526 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:45:42,302 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:45:42,629 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:45:43,080 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:45:43,579 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:45:43,680 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:45:44,023 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<1721918>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:45:44,142 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:45:44,211 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:45:44,241 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:03,759 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:04,054 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:04,364 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:04,444 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:04,514 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:04,814 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:04,902 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:05,213 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:05,560 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:05,994 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:06,331 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:06,595 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:06,857 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:07,165 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:07,410 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:07,646 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:07,880 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<8aa0206>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:07,979 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:07,994 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:08,000 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:16,002 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:16,094 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:16,176 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:16,671 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:16,794 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:16,906 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:16,977 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:17,218 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:17,277 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:17,395 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:17,681 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:17,780 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:18,235 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:18,311 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:18,405 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:18,461 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:18,521 [INFO] genesis: Building scene ~~~<<84f3a7b>>~~~...
113
+ 2026-03-11 17:46:21,361 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:27,240 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:46:46,242 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:46:46,503 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:46:47,835 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:46:47,835 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:46:47,836 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:46:47,837 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:46:49,398 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_001
122
+ 2026-03-11 17:46:54,252 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:46:56,001 [INFO] gs_gym.envs.benchgen.loader: Collected 52 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:46:56,001 [INFO] __main__: Loaded 52 trajectories for export
125
+ 2026-03-11 17:46:56,180 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:46:56,180 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:46:56,188 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:46:56,189 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:46:56,189 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:46:56,466 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:46:56,466 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:46:58,698 [INFO] genesis: Scene ~~~<<eb2258b>>~~~ created.
133
+ 2026-03-11 17:46:58,698 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<00d882c>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:46:58,781 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<517d1c5>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:00,212 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:02,012 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<a912a36>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:02,037 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:02,052 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<ceb4f79>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:02,125 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:02,145 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:02,182 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<84ffcc1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:02,273 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:02,301 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:02,354 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<d4691e1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:02,443 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:02,458 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:02,504 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<15ade78>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:02,616 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:02,686 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:02,786 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<c91a7ec>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:02,867 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:02,881 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:02,947 [INFO] genesis: Building scene ~~~<<eb2258b>>~~~...
166
+ 2026-03-11 17:47:04,570 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:05,780 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:06,470 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:06,664 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:07,197 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:07,197 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:07,198 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:07,198 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:08,355 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_002
175
+ 2026-03-11 17:47:12,207 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:13,716 [INFO] gs_gym.envs.benchgen.loader: Collected 49 trajectories (success only) from 64 trials
177
+ 2026-03-11 17:47:13,716 [INFO] __main__: Loaded 49 trajectories for export
178
+ 2026-03-11 17:47:13,897 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:13,897 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:13,905 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:13,905 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:13,905 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:14,173 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:14,173 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:16,243 [INFO] genesis: Scene ~~~<<b9d3b2e>>~~~ created.
186
+ 2026-03-11 17:47:16,243 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<f01984b>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:16,310 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<858f885>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:17,653 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:19,442 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<96977a2>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:19,467 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:19,482 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<d05ba30>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:19,555 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:19,572 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:19,607 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<3944b25>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:19,700 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:19,729 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:19,780 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<fd38f6d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:19,876 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:19,890 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:19,935 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<c043a61>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:20,058 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:20,137 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:20,227 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<2f30046>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:20,313 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:20,329 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:20,392 [INFO] genesis: Building scene ~~~<<b9d3b2e>>~~~...
219
+ 2026-03-11 17:47:22,003 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:23,208 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:23,912 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:24,111 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:24,635 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:24,635 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:24,636 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:24,636 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
227
+ 2026-03-11 17:47:25,760 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_003
228
+ 2026-03-11 17:47:29,947 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
229
+ 2026-03-11 17:47:31,497 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
230
+ 2026-03-11 17:47:31,497 [INFO] __main__: Loaded 45 trajectories for export
231
+ 2026-03-11 17:47:31,668 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
232
+ 2026-03-11 17:47:31,668 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
233
+ 2026-03-11 17:47:31,675 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
234
+ 2026-03-11 17:47:31,675 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
235
+ 2026-03-11 17:47:31,675 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
236
+ 2026-03-11 17:47:31,942 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
237
+ 2026-03-11 17:47:31,942 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
238
+ 2026-03-11 17:47:33,997 [INFO] genesis: Scene ~~~<<a13029b>>~~~ created.
239
+ 2026-03-11 17:47:33,998 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<07224c8>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
240
+ 2026-03-11 17:47:34,064 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<efe1c36>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
241
+ 2026-03-11 17:47:35,406 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
242
+ 2026-03-11 17:47:37,165 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<9d0cbc1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
243
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
244
+ warnings.warn("pygltflib currently does not remove image data "
245
+ 2026-03-11 17:47:37,190 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
246
+ 2026-03-11 17:47:37,205 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<ee5fa25>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
247
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
248
+ warnings.warn("pygltflib currently does not remove image data "
249
+ 2026-03-11 17:47:37,276 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
250
+ 2026-03-11 17:47:37,294 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
251
+ 2026-03-11 17:47:37,329 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<eec9466>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
252
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
253
+ warnings.warn("pygltflib currently does not remove image data "
254
+ 2026-03-11 17:47:37,420 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
255
+ 2026-03-11 17:47:37,448 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
256
+ 2026-03-11 17:47:37,499 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<88c8c8f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
257
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
258
+ warnings.warn("pygltflib currently does not remove image data "
259
+ 2026-03-11 17:47:37,587 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
260
+ 2026-03-11 17:47:37,602 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
261
+ 2026-03-11 17:47:37,647 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<91de092>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
262
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
263
+ warnings.warn("pygltflib currently does not remove image data "
264
+ 2026-03-11 17:47:37,752 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
265
+ 2026-03-11 17:47:37,821 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
266
+ 2026-03-11 17:47:37,911 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<9a8a708>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
267
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
268
+ warnings.warn("pygltflib currently does not remove image data "
269
+ 2026-03-11 17:47:37,992 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
270
+ 2026-03-11 17:47:38,006 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
271
+ 2026-03-11 17:47:38,069 [INFO] genesis: Building scene ~~~<<a13029b>>~~~...
272
+ 2026-03-11 17:47:39,710 [WARNING] genesis: Reference robot position exceeds joint limits.
273
+ 2026-03-11 17:47:40,931 [INFO] genesis: Compiling simulation kernels...
274
+ 2026-03-11 17:47:41,607 [INFO] genesis: Building visualizer...
275
+ 2026-03-11 17:47:41,801 [INFO] __main__: Environment created successfully
276
+ 2026-03-11 17:47:42,237 [INFO] __main__: Loaded pre-built task map with 1 tasks
277
+ 2026-03-11 17:47:42,237 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
278
+ 2026-03-11 17:47:42,237 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
279
+ 2026-03-11 17:47:42,238 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_0.out ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 0/8: batches [0 1 2 3]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 0: batch_000 (start_episode=0, n_episodes=47)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:44:56] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:44:56] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:44:56] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:44:56] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:44:56] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:00] [INFO] Scene <84f3a7b> created.
14
+ [Genesis] [17:45:00] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <4f67f9f>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:00] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:01] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <e8130b8>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:03] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:03] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:03] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:04] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:04] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:05] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:06] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:06] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:07] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:08] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:08] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:09] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:10] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:10] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:11] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:12] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:13] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <81a5c94>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:13] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:13] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:13] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <c826cce>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:13] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:13] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:13] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:13.896] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:13.897] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:13.897] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:13.897] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:13.897] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:13.897] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:13.897] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:13.897] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:13.897] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:13.897] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:13.897] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:13.897] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:13.897] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:13.897] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:13.897] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:13.897] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:13.899] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:13.899] [CoACD] [info] Manifold Check Time: 0.001892s
58
+ [2026-03-11 17:45:13.900] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:13.900] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:13.900] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:13.930] [CoACD] [info] Preprocess Time: 0.357571s
62
+ [2026-03-11 17:45:13.931] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:13.931] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:13.931] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:13.931] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:13.935] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:18.420] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:18.421] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:18.421] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:18.421] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:21.044] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:21.044] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:21.044] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 17:45:21.044] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 17:45:21.058] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:21.058] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:21.149] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:23.541] [CoACD] [info] Compute Time: 9.610380821977742s
79
+ [2026-03-11 17:45:23.541] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:23] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:25] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <e8168e8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:25] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:25] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:25.610] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:25.610] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:25.610] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:25.610] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:25.610] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:25.610] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:25.610] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:25.610] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:25.610] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:25.610] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:25.610] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:25.610] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:25.610] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:25.610] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:25.610] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:25.610] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:25.616] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:25.616] [CoACD] [info] Manifold Check Time: 0.006188s
105
+ [2026-03-11 17:45:25.617] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:25.618] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:25.618] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:25.652] [CoACD] [info] Preprocess Time: 0.509577s
109
+ [2026-03-11 17:45:25.652] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:25.652] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:25.652] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:25.652] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:25.652] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:29.604] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:29.604] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:29.608] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:29.608] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:32.742] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:32.742] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:32.742] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:32.742] [CoACD] [info] Processing [25.0%]
122
+ [2026-03-11 17:45:32.742] [CoACD] [info] Processing [50.0%]
123
+ [2026-03-11 17:45:32.742] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 17:45:34.173] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:34.173] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:34.173] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 17:45:34.173] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 17:45:34.182] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:34.182] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:34.301] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:34.641] [CoACD] [info] Compute Time: 8.988490199961234s
132
+ [2026-03-11 17:45:34.641] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:34] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:34] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:34] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:35] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:35] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:35] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <d565282>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:35] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:35] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:35] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:35.527] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:35.527] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:35.527] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:35.527] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:35.527] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:35.527] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:35.527] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:35.527] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:35.527] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:35.527] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:35.527] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:35.527] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:35.527] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:35.527] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:35.527] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:35.527] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:35.529] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:35.529] [CoACD] [info] Manifold Check Time: 0.002276s
160
+ [2026-03-11 17:45:35.530] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:35.530] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:35.530] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:35.549] [CoACD] [info] Preprocess Time: 0.289583s
164
+ [2026-03-11 17:45:35.549] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:35.549] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:35.549] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:35.549] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:35.549] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:45:38.454] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:45:38.454] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:45:38.454] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 17:45:38.454] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 17:45:40.620] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:45:40.620] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:45:40.620] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:45:40.620] [CoACD] [info] Processing [50.0%]
177
+ [2026-03-11 17:45:40.620] [CoACD] [info] Processing [75.0%]
178
+ [2026-03-11 17:45:40.620] [CoACD] [info] Processing [25.0%]
179
+ [2026-03-11 17:45:41.900] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:45:41.900] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:45:41.900] [CoACD] [info] Processing [50.0%]
182
+ [2026-03-11 17:45:41.900] [CoACD] [info] Processing [0.0%]
183
+ [2026-03-11 17:45:41.908] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:45:41.908] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:45:41.969] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:45:42.272] [CoACD] [info] Compute Time: 6.722920567030087s
187
+ [2026-03-11 17:45:42.272] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:45:42] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:45:42] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:45:43] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:45:43] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:45:43] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:45:44] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <1721918>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:45:44] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:45:44] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:45:44] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:45:44.242] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:45:44.242] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:45:44.242] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:45:44.242] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:45:44.242] [CoACD] [info] pca false
202
+ [2026-03-11 17:45:44.242] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:45:44.242] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:45:44.242] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:45:44.242] [CoACD] [info] merge true
206
+ [2026-03-11 17:45:44.242] [CoACD] [info] decimate true
207
+ [2026-03-11 17:45:44.242] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:45:44.242] [CoACD] [info] extrude false
209
+ [2026-03-11 17:45:44.242] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:45:44.242] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:45:44.242] [CoACD] [info] seed 0
212
+ [2026-03-11 17:45:44.243] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:45:44.263] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:45:44.263] [CoACD] [info] Manifold Check Time: 0.01919s
215
+ [2026-03-11 17:45:44.267] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:45:44.267] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:45:44.267] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:45:44.320] [CoACD] [info] Preprocess Time: 0.824058s
219
+ [2026-03-11 17:45:44.320] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:45:44.320] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:45:44.320] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:45:44.320] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:45:44.321] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:45:50.043] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:45:50.043] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:45:50.043] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:45:50.043] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:45:53.418] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:45:53.419] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:45:53.419] [CoACD] [info] Processing [25.0%]
231
+ [2026-03-11 17:45:53.419] [CoACD] [info] Processing [0.0%]
232
+ [2026-03-11 17:45:53.419] [CoACD] [info] Processing [75.0%]
233
+ [2026-03-11 17:45:53.419] [CoACD] [info] Processing [50.0%]
234
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:45:55.711] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [62.5%]
238
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [37.5%]
239
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [12.5%]
240
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [25.0%]
241
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [87.5%]
242
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [50.0%]
243
+ [2026-03-11 17:45:55.711] [CoACD] [info] Processing [75.0%]
244
+ [2026-03-11 17:45:57.408] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:45:57.409] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:45:57.409] [CoACD] [info] Processing [14.3%]
247
+ [2026-03-11 17:45:57.409] [CoACD] [info] Processing [85.7%]
248
+ [2026-03-11 17:45:57.409] [CoACD] [info] Processing [42.9%]
249
+ [2026-03-11 17:45:57.409] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 17:45:57.409] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 17:45:57.409] [CoACD] [info] Processing [71.4%]
252
+ [2026-03-11 17:45:57.409] [CoACD] [info] Processing [28.6%]
253
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:45:58.749] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [87.5%]
257
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [37.5%]
258
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [75.0%]
259
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [12.5%]
260
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [50.0%]
261
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [25.0%]
262
+ [2026-03-11 17:45:58.749] [CoACD] [info] Processing [62.5%]
263
+ [2026-03-11 17:45:59.701] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:45:59.702] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:45:59.702] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:45:59.702] [CoACD] [info] Processing [75.0%]
267
+ [2026-03-11 17:45:59.702] [CoACD] [info] Processing [87.5%]
268
+ [2026-03-11 17:45:59.702] [CoACD] [info] Processing [50.0%]
269
+ [2026-03-11 17:45:59.702] [CoACD] [info] Processing [25.0%]
270
+ [2026-03-11 17:45:59.712] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 17:45:59.714] [CoACD] [info] Processing [12.5%]
272
+ [2026-03-11 17:45:59.714] [CoACD] [info] Processing [62.5%]
273
+ [2026-03-11 17:46:00.204] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:00.204] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:00.204] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 17:46:00.204] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 17:46:00.209] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:00.209] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:03.681] [CoACD] [warning] Max concavity 0.06723788313684542 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:03.681] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:03.701] [CoACD] [info] Compute Time: 19.380551475973334s
282
+ [2026-03-11 17:46:03.701] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:03] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:04] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:04] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:04] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:04] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:04] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:04] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:05] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:05] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:05] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:07] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:07] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:07] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:07] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <8aa0206>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:07] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:08] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:08.001] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:08.001] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:08.001] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:08.001] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:08.001] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:08.001] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:08.001] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:08.001] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:08.001] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:08.001] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:08.001] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:08.001] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:08.001] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:08.001] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:08.001] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:08.001] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:08.004] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:08.004] [CoACD] [info] Manifold Check Time: 0.00295s
321
+ [2026-03-11 17:46:08.004] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:08.004] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:08.004] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:08.021] [CoACD] [info] Preprocess Time: 0.264962s
325
+ [2026-03-11 17:46:08.021] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:08.021] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:08.021] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:08.021] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:08.022] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:10.381] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:10.381] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:10.385] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 17:46:10.385] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 17:46:11.700] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:11.700] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:11.700] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 17:46:11.700] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 17:46:12.668] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:12.669] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:12.669] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 17:46:12.669] [CoACD] [info] Processing [75.0%]
342
+ [2026-03-11 17:46:12.669] [CoACD] [info] Processing [50.0%]
343
+ [2026-03-11 17:46:12.669] [CoACD] [info] Processing [25.0%]
344
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:13.435] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [12.5%]
348
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [62.5%]
349
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [37.5%]
350
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [25.0%]
351
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [50.0%]
352
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [75.0%]
353
+ [2026-03-11 17:46:13.435] [CoACD] [info] Processing [87.5%]
354
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:13.979] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [75.0%]
358
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [25.0%]
359
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [37.5%]
360
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [50.0%]
361
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [62.5%]
362
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [87.5%]
363
+ [2026-03-11 17:46:13.979] [CoACD] [info] Processing [12.5%]
364
+ [2026-03-11 17:46:14.580] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:14.580] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 17:46:14.580] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 17:46:14.580] [CoACD] [info] Processing [81.8%]
368
+ [2026-03-11 17:46:14.580] [CoACD] [info] Processing [27.3%]
369
+ [2026-03-11 17:46:14.580] [CoACD] [info] Processing [54.5%]
370
+ [2026-03-11 17:46:14.580] [CoACD] [info] Processing [68.2%]
371
+ [2026-03-11 17:46:14.580] [CoACD] [info] Processing [95.5%]
372
+ [2026-03-11 17:46:14.598] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 17:46:14.798] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:14.988] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [37.5%]
377
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [62.5%]
378
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [0.0%]
379
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [87.5%]
380
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [50.0%]
381
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [25.0%]
382
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [12.5%]
383
+ [2026-03-11 17:46:14.988] [CoACD] [info] Processing [75.0%]
384
+ [2026-03-11 17:46:14.996] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:14.996] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:15.684] [CoACD] [warning] Max concavity 0.056149511676879815 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:15.684] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:15.951] [CoACD] [info] Compute Time: 7.929060249007307s
389
+ [2026-03-11 17:46:15.951] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:17] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:17] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:17] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:17] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:17] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:18] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:18] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:18] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:18] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:18] [INFO] Building scene <84f3a7b>...
407
+ [Genesis] [17:46:21] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:27] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:46:46] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:46:47] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:46:47] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_000 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 1: batch_001 (start_episode=47, n_episodes=52)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:46:56] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:46:56] [INFO] │┈┉┈��┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:46:56] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:46:56] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:46:56] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:46:58] [INFO] Scene <eb2258b> created.
432
+ [Genesis] [17:46:58] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <00d882c>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:46:58] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <517d1c5>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:00] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:02] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <a912a36>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:02] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <ceb4f79>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:02] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:02] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <84ffcc1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:02] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:02] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <d4691e1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:02] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:02] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <15ade78>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:02] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:02] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <c91a7ec>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:02] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:02] [INFO] Building scene <eb2258b>...
453
+ [Genesis] [17:47:04] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:05] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:06] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:07] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:07] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_001 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 2: batch_002 (start_episode=99, n_episodes=49)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:13] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:13] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:13] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:14] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:14] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:16] [INFO] Scene <b9d3b2e> created.
478
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <f01984b>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <858f885>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:17] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:19] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <96977a2>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:19] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:19] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <d05ba30>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:19] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:19] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:19] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <3944b25>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:19] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:19] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:19] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <fd38f6d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:19] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:19] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:19] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <c043a61>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:20] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:20] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:20] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <2f30046>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:20] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:20] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:20] [INFO] Building scene <b9d3b2e>...
499
+ [Genesis] [17:47:22] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:23] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:23] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:24] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:24] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_002 done!
514
+
515
+ ──────────────────────────────────────────
516
+ Batch 3: batch_003 (start_episode=148, n_episodes=45)
517
+ ──────────────────────────────────────────
518
+ [Genesis] [17:47:31] [INFO] ╭───────────────────────────────────────────────╮
519
+ [Genesis] [17:47:31] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
520
+ [Genesis] [17:47:31] [INFO] ╰───────────────────────────────────────────────╯
521
+ [Genesis] [17:47:31] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
522
+ [Genesis] [17:47:31] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
523
+ [Genesis] [17:47:33] [INFO] Scene <a13029b> created.
524
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <07224c8>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
525
+ [Genesis] [17:47:34] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <efe1c36>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
526
+ [Genesis] [17:47:35] [INFO] Applying offset to base link's pose with user provided value in morph.
527
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <9d0cbc1>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
528
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
529
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <ee5fa25>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
530
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
531
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
532
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <eec9466>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
533
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
534
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
535
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <88c8c8f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
536
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
537
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
538
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <91de092>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
539
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
540
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
541
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <9a8a708>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
542
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
543
+ [Genesis] [17:47:38] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
544
+ [Genesis] [17:47:38] [INFO] Building scene <a13029b>...
545
+ [Genesis] [17:47:39] [WARNING] Reference robot position exceeds joint limits.
546
+ [Genesis] [17:47:40] [INFO] Compiling simulation kernels...
547
+ [Genesis] [17:47:41] [INFO] Building visualizer...
548
+ Traceback (most recent call last):
549
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
550
+ sys.exit(main())
551
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
552
+ total_episodes, total_frames = replay_and_export(
553
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
554
+ n_envs = env.n_envs
555
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
556
+
557
+ [Genesis] [17:47:42] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
558
+ [Genesis] [17:47:42] [INFO] 💤 Exiting Genesis and caching compiled kernels...
559
+ Batch batch_003 done!
560
+
561
+ ==========================================
562
+ Worker 0 complete!
563
+ ==========================================
meta/_logs/replay_203706_1.err ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 17:44:46,546 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_004
2
+ 2026-03-11 17:45:01,127 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:45:04,714 [INFO] gs_gym.envs.benchgen.loader: Collected 51 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:45:04,714 [INFO] __main__: Loaded 51 trajectories for export
5
+ 2026-03-11 17:45:04,993 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:45:04,993 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:45:05,003 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:45:05,004 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:45:05,004 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:45:05,724 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:45:05,724 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:09,409 [INFO] genesis: Scene ~~~<<201130b>>~~~ created.
13
+ 2026-03-11 17:45:09,410 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<b6ce655>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:09,500 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:10,373 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<b181077>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:11,934 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:11,986 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:12,424 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:12,819 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:13,520 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:14,430 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:15,104 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:15,547 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:16,236 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 17:45:16,947 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:17,353 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:17,932 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:18,703 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:19,299 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:20,131 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:21,256 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:21,775 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<4590ee7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:21,799 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:21,814 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:22,208 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<220127d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:22,283 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:22,302 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:22,313 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:31,350 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:32,020 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:32,611 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:33,180 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<5c2a0e1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:33,284 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:33,312 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:33,326 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:42,623 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:42,738 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:42,884 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:43,104 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:43,187 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:43,345 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<da0c29f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:43,441 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:43,457 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:43,466 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:45:50,274 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:45:50,604 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:45:51,055 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:45:51,555 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:45:51,673 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:45:52,027 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<3d99619>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:45:52,148 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:45:52,230 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:45:52,261 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:12,106 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:12,400 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:12,691 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:12,993 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:13,053 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:13,346 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:13,602 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:13,902 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:14,161 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:14,486 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:14,914 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:15,258 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:15,323 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:15,564 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:15,647 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:15,883 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:16,116 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<6441c49>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:16,204 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:16,219 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:16,226 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:24,087 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:24,180 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:24,594 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:24,669 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:24,771 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:24,854 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:24,917 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:25,031 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:25,124 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:25,179 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:25,268 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:25,345 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:25,572 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:25,639 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:25,903 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:25,959 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:26,364 [INFO] genesis: Building scene ~~~<<201130b>>~~~...
113
+ 2026-03-11 17:46:29,005 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:35,543 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:46:57,071 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:46:57,353 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:46:58,544 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:46:58,544 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:46:58,546 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:46:58,547 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:47:00,305 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_005
122
+ 2026-03-11 17:47:05,780 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:47:07,592 [INFO] gs_gym.envs.benchgen.loader: Collected 41 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:47:07,592 [INFO] __main__: Loaded 41 trajectories for export
125
+ 2026-03-11 17:47:07,764 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:47:07,764 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:47:07,772 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:47:07,772 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:47:07,772 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:47:08,063 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:47:08,063 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:47:10,396 [INFO] genesis: Scene ~~~<<d37c6ba>>~~~ created.
133
+ 2026-03-11 17:47:10,396 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<539324e>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:47:10,474 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<1886ad8>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:11,935 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:13,899 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<05fc38f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:13,925 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:13,941 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<ede49f5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:14,016 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:14,034 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:14,074 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<ab1259b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:14,168 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:14,198 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:14,254 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<31758fa>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:14,346 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:14,362 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:14,412 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<65c6ccf>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:14,521 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:14,594 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:14,689 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<a0895fc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:14,772 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:14,788 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:14,856 [INFO] genesis: Building scene ~~~<<d37c6ba>>~~~...
166
+ 2026-03-11 17:47:16,497 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:17,868 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:18,600 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:18,808 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:19,471 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:19,471 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:19,472 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:19,472 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:20,895 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_006
175
+ 2026-03-11 17:47:25,184 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:26,776 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
177
+ 2026-03-11 17:47:26,776 [INFO] __main__: Loaded 48 trajectories for export
178
+ 2026-03-11 17:47:26,960 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:26,960 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:26,967 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:26,968 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:26,968 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:27,267 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:27,267 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:29,511 [INFO] genesis: Scene ~~~<<22d7acf>>~~~ created.
186
+ 2026-03-11 17:47:29,511 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<aaec519>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:29,583 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<bb92f03>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:31,041 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:33,033 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<13f08a7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:33,058 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:33,074 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<407278d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:33,147 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:33,167 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:33,205 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<b97224d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:33,305 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:33,336 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:33,392 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<61c62ed>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:33,491 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:33,507 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:33,555 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<df3ae92>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:33,675 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:33,751 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:33,846 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<5c0be1a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:33,935 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:33,953 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:34,022 [INFO] genesis: Building scene ~~~<<22d7acf>>~~~...
219
+ 2026-03-11 17:47:35,671 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:37,028 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:37,777 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:37,991 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:38,599 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:38,599 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:38,600 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:38,600 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
227
+ 2026-03-11 17:47:39,956 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_008
228
+ 2026-03-11 17:47:44,366 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
229
+ 2026-03-11 17:47:46,001 [INFO] gs_gym.envs.benchgen.loader: Collected 49 trajectories (success only) from 64 trials
230
+ 2026-03-11 17:47:46,001 [INFO] __main__: Loaded 49 trajectories for export
231
+ 2026-03-11 17:47:46,201 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
232
+ 2026-03-11 17:47:46,201 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
233
+ 2026-03-11 17:47:46,209 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
234
+ 2026-03-11 17:47:46,209 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
235
+ 2026-03-11 17:47:46,209 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
236
+ 2026-03-11 17:47:46,632 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
237
+ 2026-03-11 17:47:46,632 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
238
+ 2026-03-11 17:47:49,230 [INFO] genesis: Scene ~~~<<bceb70e>>~~~ created.
239
+ 2026-03-11 17:47:49,231 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<19d8426>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
240
+ 2026-03-11 17:47:49,306 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<61b383e>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
241
+ 2026-03-11 17:47:50,832 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
242
+ 2026-03-11 17:47:52,927 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<ddb2c05>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
243
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
244
+ warnings.warn("pygltflib currently does not remove image data "
245
+ 2026-03-11 17:47:52,952 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
246
+ 2026-03-11 17:47:52,968 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<948239d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
247
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
248
+ warnings.warn("pygltflib currently does not remove image data "
249
+ 2026-03-11 17:47:53,044 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
250
+ 2026-03-11 17:47:53,065 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
251
+ 2026-03-11 17:47:53,104 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<266b653>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
252
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
253
+ warnings.warn("pygltflib currently does not remove image data "
254
+ 2026-03-11 17:47:53,198 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
255
+ 2026-03-11 17:47:53,228 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
256
+ 2026-03-11 17:47:53,285 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<927ddd4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
257
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
258
+ warnings.warn("pygltflib currently does not remove image data "
259
+ 2026-03-11 17:47:53,380 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
260
+ 2026-03-11 17:47:53,396 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
261
+ 2026-03-11 17:47:53,457 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<bc0e75e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
262
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
263
+ warnings.warn("pygltflib currently does not remove image data "
264
+ 2026-03-11 17:47:53,578 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
265
+ 2026-03-11 17:47:53,661 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
266
+ 2026-03-11 17:47:53,761 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<d08465c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
267
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
268
+ warnings.warn("pygltflib currently does not remove image data "
269
+ 2026-03-11 17:47:53,846 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
270
+ 2026-03-11 17:47:53,863 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
271
+ 2026-03-11 17:47:53,936 [INFO] genesis: Building scene ~~~<<bceb70e>>~~~...
272
+ 2026-03-11 17:47:55,646 [WARNING] genesis: Reference robot position exceeds joint limits.
273
+ 2026-03-11 17:47:57,084 [INFO] genesis: Compiling simulation kernels...
274
+ 2026-03-11 17:47:57,890 [INFO] genesis: Building visualizer...
275
+ 2026-03-11 17:47:58,114 [INFO] __main__: Environment created successfully
276
+ 2026-03-11 17:47:58,710 [INFO] __main__: Loaded pre-built task map with 1 tasks
277
+ 2026-03-11 17:47:58,710 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
278
+ 2026-03-11 17:47:58,711 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
279
+ 2026-03-11 17:47:58,712 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_1.out ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 1/8: batches [4 5 6 7]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 4: batch_004 (start_episode=193, n_episodes=51)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:45:05] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:45:05] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:45:05] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:45:05] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:45:05] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:09] [INFO] Scene <201130b> created.
14
+ [Genesis] [17:45:09] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <b6ce655>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:09] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:10] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <b181077>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:11] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:11] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:12] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:12] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:13] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:14] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:15] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:15] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:16] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:16] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:17] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:17] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:18] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:19] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:20] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:21] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <4590ee7>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:22] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <220127d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:22] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:22] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:22] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:22.314] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:22.315] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:22.315] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:22.315] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:22.315] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:22.315] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:22.315] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:22.315] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:22.315] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:22.315] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:22.315] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:22.315] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:22.315] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:22.315] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:22.315] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:22.315] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:22.317] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:22.317] [CoACD] [info] Manifold Check Time: 0.001947s
58
+ [2026-03-11 17:45:22.318] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:22.318] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:22.318] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:22.345] [CoACD] [info] Preprocess Time: 0.356923s
62
+ [2026-03-11 17:45:22.345] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:22.345] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:22.345] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:22.345] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:22.346] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:26.491] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:26.491] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:26.491] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:26.491] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:28.920] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:28.920] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:28.920] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 17:45:28.920] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 17:45:28.934] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:28.934] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:29.018] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:31.327] [CoACD] [info] Compute Time: 8.981345709878951s
79
+ [2026-03-11 17:45:31.327] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:31] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:32] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:32] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:33] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <5c2a0e1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:33] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:33] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:33.327] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:33.327] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:33.327] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:33.327] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:33.327] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:33.327] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:33.327] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:33.327] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:33.327] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:33.327] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:33.327] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:33.327] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:33.327] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:33.327] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:33.327] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:33.328] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:33.334] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:33.334] [CoACD] [info] Manifold Check Time: 0.006197s
105
+ [2026-03-11 17:45:33.335] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:33.335] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:33.335] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:33.364] [CoACD] [info] Preprocess Time: 0.457316s
109
+ [2026-03-11 17:45:33.365] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:33.365] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:33.365] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:33.365] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:33.365] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:37.425] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:37.425] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:37.425] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:37.425] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:40.661] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:40.662] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:40.662] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:40.662] [CoACD] [info] Processing [25.0%]
122
+ [2026-03-11 17:45:40.662] [CoACD] [info] Processing [50.0%]
123
+ [2026-03-11 17:45:40.662] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 17:45:42.106] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:42.106] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:42.106] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 17:45:42.106] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 17:45:42.116] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:42.116] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:42.251] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:42.590] [CoACD] [info] Compute Time: 9.224924759939313s
132
+ [2026-03-11 17:45:42.590] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:42] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:42] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:42] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:43] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:43] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:43] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <da0c29f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:43] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:43] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:43] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:43.466] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:43.466] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:43.466] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:43.466] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:43.466] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:43.466] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:43.466] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:43.466] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:43.466] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:43.466] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:43.466] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:43.466] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:43.466] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:43.466] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:43.466] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:43.466] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:43.469] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:43.469] [CoACD] [info] Manifold Check Time: 0.00228s
160
+ [2026-03-11 17:45:43.469] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:43.469] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:43.469] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:43.488] [CoACD] [info] Preprocess Time: 0.304405s
164
+ [2026-03-11 17:45:43.489] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:43.489] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:43.489] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:43.489] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:43.489] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:45:46.440] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:45:46.440] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:45:46.440] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 17:45:46.440] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 17:45:48.581] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:45:48.581] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:45:48.581] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:45:48.581] [CoACD] [info] Processing [25.0%]
177
+ [2026-03-11 17:45:48.581] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 17:45:48.581] [CoACD] [info] Processing [75.0%]
179
+ [2026-03-11 17:45:49.860] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:45:49.860] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:45:49.860] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 17:45:49.860] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 17:45:49.868] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:45:49.868] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:45:49.939] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:45:50.241] [CoACD] [info] Compute Time: 6.752258914057165s
187
+ [2026-03-11 17:45:50.241] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:45:50] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:45:50] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:45:52] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <3d99619>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:45:52] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:45:52] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:45:52] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:45:52.262] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:45:52.262] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:45:52.262] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:45:52.262] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:45:52.262] [CoACD] [info] pca false
202
+ [2026-03-11 17:45:52.262] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:45:52.262] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:45:52.262] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:45:52.262] [CoACD] [info] merge true
206
+ [2026-03-11 17:45:52.262] [CoACD] [info] decimate true
207
+ [2026-03-11 17:45:52.262] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:45:52.262] [CoACD] [info] extrude false
209
+ [2026-03-11 17:45:52.262] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:45:52.262] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:45:52.262] [CoACD] [info] seed 0
212
+ [2026-03-11 17:45:52.264] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:45:52.283] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:45:52.284] [CoACD] [info] Manifold Check Time: 0.019638s
215
+ [2026-03-11 17:45:52.290] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:45:52.290] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:45:52.290] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:45:52.342] [CoACD] [info] Preprocess Time: 0.805657s
219
+ [2026-03-11 17:45:52.342] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:45:52.342] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:45:52.342] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:45:52.342] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:45:52.342] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:45:58.527] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:45:58.528] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:45:58.528] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:45:58.528] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:46:02.022] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:46:02.022] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:46:02.022] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 17:46:02.022] [CoACD] [info] Processing [50.0%]
232
+ [2026-03-11 17:46:02.022] [CoACD] [info] Processing [75.0%]
233
+ [2026-03-11 17:46:02.022] [CoACD] [info] Processing [25.0%]
234
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:46:04.259] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [25.0%]
237
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [87.5%]
238
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [37.5%]
239
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [75.0%]
240
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [62.5%]
241
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [0.0%]
242
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [12.5%]
243
+ [2026-03-11 17:46:04.259] [CoACD] [info] Processing [50.0%]
244
+ [2026-03-11 17:46:05.973] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:46:05.974] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:46:05.977] [CoACD] [info] Processing [42.9%]
247
+ [2026-03-11 17:46:05.977] [CoACD] [info] Processing [71.4%]
248
+ [2026-03-11 17:46:05.977] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 17:46:05.977] [CoACD] [info] Processing [57.1%]
250
+ [2026-03-11 17:46:05.977] [CoACD] [info] Processing [85.7%]
251
+ [2026-03-11 17:46:05.977] [CoACD] [info] Processing [28.6%]
252
+ [2026-03-11 17:46:05.982] [CoACD] [info] Processing [0.0%]
253
+ [2026-03-11 17:46:07.290] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:46:07.291] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [25.0%]
256
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [50.0%]
257
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [75.0%]
258
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [62.5%]
259
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [12.5%]
260
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [37.5%]
261
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [0.0%]
262
+ [2026-03-11 17:46:07.291] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 17:46:08.247] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:46:08.247] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:46:08.247] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:46:08.247] [CoACD] [info] Processing [87.5%]
267
+ [2026-03-11 17:46:08.247] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 17:46:08.247] [CoACD] [info] Processing [50.0%]
269
+ [2026-03-11 17:46:08.247] [CoACD] [info] Processing [25.0%]
270
+ [2026-03-11 17:46:08.258] [CoACD] [info] Processing [12.5%]
271
+ [2026-03-11 17:46:08.258] [CoACD] [info] Processing [37.5%]
272
+ [2026-03-11 17:46:08.259] [CoACD] [info] Processing [62.5%]
273
+ [2026-03-11 17:46:08.730] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:08.730] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:08.730] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 17:46:08.730] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 17:46:08.736] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:08.736] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:12.040] [CoACD] [warning] Max concavity 0.06849504485168025 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:12.040] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:12.060] [CoACD] [info] Compute Time: 19.71748132398352s
282
+ [2026-03-11 17:46:12.060] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:13] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:13] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:13] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:13] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:14] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:14] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:14] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:16] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <6441c49>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:16] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:16] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:16.226] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:16.226] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:16.226] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:16.226] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:16.226] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:16.226] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:16.226] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:16.226] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:16.226] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:16.226] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:16.226] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:16.226] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:16.226] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:16.226] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:16.226] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:16.226] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:16.229] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:16.229] [CoACD] [info] Manifold Check Time: 0.003031s
321
+ [2026-03-11 17:46:16.230] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:16.230] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:16.230] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:16.247] [CoACD] [info] Preprocess Time: 0.27183s
325
+ [2026-03-11 17:46:16.247] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:16.247] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:16.247] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:16.247] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:16.247] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:18.534] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:18.534] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:18.534] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 17:46:18.534] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 17:46:19.837] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:19.837] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:19.837] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 17:46:19.837] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 17:46:20.808] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:20.808] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:20.808] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 17:46:20.808] [CoACD] [info] Processing [25.0%]
342
+ [2026-03-11 17:46:20.808] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 17:46:20.808] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:21.578] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [12.5%]
348
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [87.5%]
349
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [25.0%]
350
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [75.0%]
351
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [50.0%]
352
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [62.5%]
353
+ [2026-03-11 17:46:21.578] [CoACD] [info] Processing [37.5%]
354
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:22.123] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [75.0%]
358
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [25.0%]
359
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [37.5%]
360
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [87.5%]
361
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [62.5%]
362
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [12.5%]
363
+ [2026-03-11 17:46:22.123] [CoACD] [info] Processing [50.0%]
364
+ [2026-03-11 17:46:22.645] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:22.645] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 17:46:22.645] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 17:46:22.645] [CoACD] [info] Processing [27.3%]
368
+ [2026-03-11 17:46:22.645] [CoACD] [info] Processing [81.8%]
369
+ [2026-03-11 17:46:22.645] [CoACD] [info] Processing [54.5%]
370
+ [2026-03-11 17:46:22.645] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 17:46:22.645] [CoACD] [info] Processing [68.2%]
372
+ [2026-03-11 17:46:22.661] [CoACD] [info] Processing [40.9%]
373
+ [2026-03-11 17:46:22.663] [CoACD] [info] Processing [13.6%]
374
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:23.052] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [75.0%]
379
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [87.5%]
380
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [25.0%]
381
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [50.0%]
382
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [62.5%]
383
+ [2026-03-11 17:46:23.052] [CoACD] [info] Processing [12.5%]
384
+ [2026-03-11 17:46:23.059] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:23.059] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:23.783] [CoACD] [warning] Max concavity 0.059324087460547514 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:23.783] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:24.045] [CoACD] [info] Compute Time: 7.797980673145503s
389
+ [2026-03-11 17:46:24.045] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:26] [INFO] Building scene <201130b>...
407
+ [Genesis] [17:46:29] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:35] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:46:57] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:46:58] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:46:58] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_004 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 5: batch_005 (start_episode=244, n_episodes=41)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:47:07] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:47:07] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:47:07] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:47:08] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:47:08] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:47:10] [INFO] Scene <d37c6ba> created.
432
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <539324e>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <1886ad8>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:11] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:13] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <05fc38f>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:13] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:13] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <ede49f5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <ab1259b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <31758fa>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <65c6ccf>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <a0895fc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:14] [INFO] Building scene <d37c6ba>...
453
+ [Genesis] [17:47:16] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:17] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:18] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:19] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:19] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_005 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 6: batch_006 (start_episode=285, n_episodes=48)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:26] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:26] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:26] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:27] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:27] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:29] [INFO] Scene <22d7acf> created.
478
+ [Genesis] [17:47:29] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <aaec519>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:29] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <bb92f03>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:31] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <13f08a7>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <407278d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:33] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <b97224d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:33] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <61c62ed>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:33] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <df3ae92>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:33] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <5c0be1a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:33] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:34] [INFO] Building scene <22d7acf>...
499
+ [Genesis] [17:47:35] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:37] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:37] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:38] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:38] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_006 done!
514
+
515
+ ──────────────────────────────────────────
516
+ Batch 7: batch_008 (start_episode=333, n_episodes=49)
517
+ ──────────────────────────────────────────
518
+ [Genesis] [17:47:46] [INFO] ╭───────────────────────────────────────────────╮
519
+ [Genesis] [17:47:46] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
520
+ [Genesis] [17:47:46] [INFO] ╰───────────────────────────────────────────────╯
521
+ [Genesis] [17:47:46] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
522
+ [Genesis] [17:47:46] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
523
+ [Genesis] [17:47:49] [INFO] Scene <bceb70e> created.
524
+ [Genesis] [17:47:49] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <19d8426>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
525
+ [Genesis] [17:47:49] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <61b383e>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
526
+ [Genesis] [17:47:50] [INFO] Applying offset to base link's pose with user provided value in morph.
527
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <ddb2c05>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
528
+ [Genesis] [17:47:52] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
529
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <948239d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
530
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
531
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
532
+ [Genesis] [17:47:53] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <266b653>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
533
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
534
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
535
+ [Genesis] [17:47:53] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <927ddd4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
536
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
537
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
538
+ [Genesis] [17:47:53] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <bc0e75e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
539
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
540
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
541
+ [Genesis] [17:47:53] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <d08465c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
542
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
543
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
544
+ [Genesis] [17:47:53] [INFO] Building scene <bceb70e>...
545
+ [Genesis] [17:47:55] [WARNING] Reference robot position exceeds joint limits.
546
+ [Genesis] [17:47:57] [INFO] Compiling simulation kernels...
547
+ [Genesis] [17:47:57] [INFO] Building visualizer...
548
+ Traceback (most recent call last):
549
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
550
+ sys.exit(main())
551
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
552
+ total_episodes, total_frames = replay_and_export(
553
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
554
+ n_envs = env.n_envs
555
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
556
+
557
+ [Genesis] [17:47:58] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
558
+ [Genesis] [17:47:58] [INFO] 💤 Exiting Genesis and caching compiled kernels...
559
+ Batch batch_008 done!
560
+
561
+ ==========================================
562
+ Worker 1 complete!
563
+ ==========================================
meta/_logs/replay_203706_2.err ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 17:44:53,477 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_009
2
+ 2026-03-11 17:45:01,359 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:45:05,250 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:45:05,250 [INFO] __main__: Loaded 48 trajectories for export
5
+ 2026-03-11 17:45:05,542 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:45:05,542 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:45:05,551 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:45:05,551 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:45:05,552 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:45:06,337 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:45:06,338 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:10,333 [INFO] genesis: Scene ~~~<<219639e>>~~~ created.
13
+ 2026-03-11 17:45:10,333 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<f16e1f0>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:10,414 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:11,375 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<f59f2e3>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:13,501 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:13,587 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:14,087 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:14,528 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:15,287 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:16,210 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:16,930 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:17,429 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:18,152 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 17:45:18,857 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:19,300 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:19,874 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:20,666 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:21,269 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:22,160 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:23,260 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:23,747 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<7a9ef35>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:23,777 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:23,791 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:24,180 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<2581c4b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:24,252 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:24,270 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:24,281 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:33,221 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:33,894 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:34,493 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:35,062 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<484e346>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:35,175 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:35,203 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:35,217 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:44,264 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:44,373 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:44,512 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:44,719 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:44,797 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:44,946 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<7b83df6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:45,051 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:45,067 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:45,075 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:45:51,826 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:45:52,152 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:45:52,603 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:45:53,100 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:45:53,195 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:45:53,538 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<adb13a4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:45:53,654 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:45:53,732 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:45:53,762 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:12,458 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:12,754 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:12,839 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:12,899 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:13,160 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:13,467 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:13,769 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:14,062 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:14,401 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:14,719 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:14,979 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:15,404 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:15,640 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:15,886 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:15,952 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:16,251 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:16,492 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<5b57969>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:16,591 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:16,605 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:16,611 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:24,380 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:24,469 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:24,806 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:24,907 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:25,175 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:25,247 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:25,325 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:25,412 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:25,463 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:25,536 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:25,589 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:25,650 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:25,717 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:25,944 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:26,016 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:26,082 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:26,491 [INFO] genesis: Building scene ~~~<<219639e>>~~~...
113
+ 2026-03-11 17:46:29,162 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:35,419 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:46:55,891 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:46:56,139 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:46:56,749 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:46:56,750 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:46:56,753 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:46:56,753 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:46:58,180 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_010
122
+ 2026-03-11 17:47:03,037 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:47:04,665 [INFO] gs_gym.envs.benchgen.loader: Collected 44 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:47:04,665 [INFO] __main__: Loaded 44 trajectories for export
125
+ 2026-03-11 17:47:04,824 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:47:04,824 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:47:04,833 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:47:04,833 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:47:04,833 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:47:05,117 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:47:05,117 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:47:07,275 [INFO] genesis: Scene ~~~<<8e0af89>>~~~ created.
133
+ 2026-03-11 17:47:07,275 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<eeab932>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:47:07,346 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<17b9fc1>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:08,723 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:10,492 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<0c42a07>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:10,517 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:10,533 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<3f8d22c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:10,604 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:10,621 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:10,657 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<0d03697>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:10,748 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:10,776 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:10,828 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<441fc49>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:10,917 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:10,932 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:10,977 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<3f3395e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:11,082 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:11,150 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:11,241 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<fda14ab>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:11,322 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:11,337 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:11,401 [INFO] genesis: Building scene ~~~<<8e0af89>>~~~...
166
+ 2026-03-11 17:47:13,014 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:14,211 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:14,896 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:15,094 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:15,565 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:15,565 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:15,566 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:15,566 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:16,703 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_011
175
+ 2026-03-11 17:47:20,710 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:22,295 [INFO] gs_gym.envs.benchgen.loader: Collected 42 trajectories (success only) from 64 trials
177
+ 2026-03-11 17:47:22,295 [INFO] __main__: Loaded 42 trajectories for export
178
+ 2026-03-11 17:47:22,460 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:22,460 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:22,467 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:22,467 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:22,467 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:22,748 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:22,749 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:24,820 [INFO] genesis: Scene ~~~<<633ce38>>~~~ created.
186
+ 2026-03-11 17:47:24,820 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<04d3eca>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:24,888 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<494be85>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:26,244 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:28,003 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<b769153>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:28,029 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:28,044 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<4b9eb26>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:28,114 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:28,131 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:28,167 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<eeab73b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:28,257 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:28,284 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:28,335 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<51e5f5c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:28,423 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:28,438 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:28,482 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<d21f4bc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:28,594 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:28,672 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:28,763 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<f34d920>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:28,843 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:28,858 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:28,922 [INFO] genesis: Building scene ~~~<<633ce38>>~~~...
219
+ 2026-03-11 17:47:30,571 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:31,928 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:32,714 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:32,941 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:33,448 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:33,448 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:33,449 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:33,449 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
227
+ 2026-03-11 17:47:34,837 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_012
228
+ 2026-03-11 17:47:40,127 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
229
+ 2026-03-11 17:47:42,189 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
230
+ 2026-03-11 17:47:42,189 [INFO] __main__: Loaded 48 trajectories for export
231
+ 2026-03-11 17:47:42,429 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
232
+ 2026-03-11 17:47:42,429 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
233
+ 2026-03-11 17:47:42,437 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
234
+ 2026-03-11 17:47:42,437 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
235
+ 2026-03-11 17:47:42,437 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
236
+ 2026-03-11 17:47:42,747 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
237
+ 2026-03-11 17:47:42,747 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
238
+ 2026-03-11 17:47:45,427 [INFO] genesis: Scene ~~~<<b28a850>>~~~ created.
239
+ 2026-03-11 17:47:45,427 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<71eb6cc>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
240
+ 2026-03-11 17:47:45,502 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<49a19c2>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
241
+ 2026-03-11 17:47:46,979 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
242
+ 2026-03-11 17:47:48,865 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<f5e35eb>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
243
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
244
+ warnings.warn("pygltflib currently does not remove image data "
245
+ 2026-03-11 17:47:48,891 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
246
+ 2026-03-11 17:47:48,906 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<1d0bc3e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
247
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
248
+ warnings.warn("pygltflib currently does not remove image data "
249
+ 2026-03-11 17:47:48,978 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
250
+ 2026-03-11 17:47:48,995 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
251
+ 2026-03-11 17:47:49,031 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<662e16b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
252
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
253
+ warnings.warn("pygltflib currently does not remove image data "
254
+ 2026-03-11 17:47:49,124 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
255
+ 2026-03-11 17:47:49,154 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
256
+ 2026-03-11 17:47:49,215 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<3faf535>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
257
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
258
+ warnings.warn("pygltflib currently does not remove image data "
259
+ 2026-03-11 17:47:49,309 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
260
+ 2026-03-11 17:47:49,329 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
261
+ 2026-03-11 17:47:49,378 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<f8bb81e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
262
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
263
+ warnings.warn("pygltflib currently does not remove image data "
264
+ 2026-03-11 17:47:49,484 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
265
+ 2026-03-11 17:47:49,552 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
266
+ 2026-03-11 17:47:49,643 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<5c6ea90>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
267
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
268
+ warnings.warn("pygltflib currently does not remove image data "
269
+ 2026-03-11 17:47:49,724 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
270
+ 2026-03-11 17:47:49,739 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
271
+ 2026-03-11 17:47:49,804 [INFO] genesis: Building scene ~~~<<b28a850>>~~~...
272
+ 2026-03-11 17:47:51,443 [WARNING] genesis: Reference robot position exceeds joint limits.
273
+ 2026-03-11 17:47:52,941 [INFO] genesis: Compiling simulation kernels...
274
+ 2026-03-11 17:47:53,887 [INFO] genesis: Building visualizer...
275
+ 2026-03-11 17:47:54,151 [INFO] __main__: Environment created successfully
276
+ 2026-03-11 17:47:54,854 [INFO] __main__: Loaded pre-built task map with 1 tasks
277
+ 2026-03-11 17:47:54,854 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
278
+ 2026-03-11 17:47:54,855 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
279
+ 2026-03-11 17:47:54,855 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_2.out ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 2/8: batches [8 9 10 11]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 8: batch_009 (start_episode=382, n_episodes=48)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:45:05] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:45:05] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:45:05] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:45:06] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:45:06] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:10] [INFO] Scene <219639e> created.
14
+ [Genesis] [17:45:10] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <f16e1f0>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:10] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:11] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <f59f2e3>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:13] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:13] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:14] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:14] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:15] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:16] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:16] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:17] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:18] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:18] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:19] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:19] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:20] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:22] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:23] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:23] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <7a9ef35>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:23] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:23] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:24] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <2581c4b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:24] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:24] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:24.281] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:24.282] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:24.282] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:24.282] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:24.282] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:24.282] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:24.282] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:24.282] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:24.282] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:24.282] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:24.282] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:24.282] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:24.282] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:24.282] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:24.282] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:24.283] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:24.285] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:24.285] [CoACD] [info] Manifold Check Time: 0.001916s
58
+ [2026-03-11 17:45:24.285] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:24.285] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:24.285] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:24.312] [CoACD] [info] Preprocess Time: 0.349845s
62
+ [2026-03-11 17:45:24.312] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:24.312] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:24.312] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:24.312] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:24.312] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:28.377] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:28.377] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:28.377] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:28.377] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:30.789] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:30.789] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:30.789] [CoACD] [info] Processing [50.0%]
74
+ [2026-03-11 17:45:30.793] [CoACD] [info] Processing [0.0%]
75
+ [2026-03-11 17:45:30.807] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:30.807] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:30.889] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:33.197] [CoACD] [info] Compute Time: 8.885419136029668s
79
+ [2026-03-11 17:45:33.197] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:33] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:33] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:34] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:35] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <484e346>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:35] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:35] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:35] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:35.218] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:35.218] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:35.218] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:35.218] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:35.218] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:35.218] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:35.218] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:35.218] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:35.218] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:35.218] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:35.218] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:35.218] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:35.218] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:35.218] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:35.218] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:35.218] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:35.224] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:35.224] [CoACD] [info] Manifold Check Time: 0.00619s
105
+ [2026-03-11 17:45:35.226] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:35.226] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:35.226] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:35.255] [CoACD] [info] Preprocess Time: 0.461893s
109
+ [2026-03-11 17:45:35.255] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:35.255] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:35.255] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:35.255] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:35.256] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:39.198] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:39.198] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:39.198] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:39.198] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:42.317] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:42.317] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:42.317] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:42.317] [CoACD] [info] Processing [75.0%]
122
+ [2026-03-11 17:45:42.317] [CoACD] [info] Processing [50.0%]
123
+ [2026-03-11 17:45:42.317] [CoACD] [info] Processing [25.0%]
124
+ [2026-03-11 17:45:43.749] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:43.749] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:43.749] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 17:45:43.749] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 17:45:43.758] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:43.758] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:43.891] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:44.230] [CoACD] [info] Compute Time: 8.974470148968976s
132
+ [2026-03-11 17:45:44.230] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:44] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:44] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:44] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:44] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:44] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:44] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <7b83df6>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:45] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:45] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:45] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:45.075] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:45.075] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:45.075] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:45.075] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:45.075] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:45.075] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:45.075] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:45.075] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:45.075] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:45.075] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:45.075] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:45.075] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:45.075] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:45.075] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:45.075] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:45.075] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:45.078] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:45.078] [CoACD] [info] Manifold Check Time: 0.002275s
160
+ [2026-03-11 17:45:45.078] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:45.078] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:45.078] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:45.096] [CoACD] [info] Preprocess Time: 0.281506s
164
+ [2026-03-11 17:45:45.096] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:45.096] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:45.096] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:45.096] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:45.096] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:45:47.994] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:45:47.994] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:45:47.994] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 17:45:47.994] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 17:45:50.146] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:45:50.146] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:45:50.146] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:45:50.146] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 17:45:50.146] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 17:45:50.146] [CoACD] [info] Processing [25.0%]
179
+ [2026-03-11 17:45:51.426] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:45:51.426] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:45:51.426] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 17:45:51.426] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 17:45:51.434] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:45:51.434] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:45:51.495] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:45:51.796] [CoACD] [info] Compute Time: 6.699855173996184s
187
+ [2026-03-11 17:45:51.796] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:45:52] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:45:52] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:45:53] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:45:53] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:45:53] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <adb13a4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:45:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:45:53] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:45:53] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:45:53.763] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:45:53.763] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:45:53.763] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:45:53.763] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:45:53.763] [CoACD] [info] pca false
202
+ [2026-03-11 17:45:53.763] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:45:53.763] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:45:53.763] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:45:53.763] [CoACD] [info] merge true
206
+ [2026-03-11 17:45:53.763] [CoACD] [info] decimate true
207
+ [2026-03-11 17:45:53.763] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:45:53.763] [CoACD] [info] extrude false
209
+ [2026-03-11 17:45:53.763] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:45:53.763] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:45:53.763] [CoACD] [info] seed 0
212
+ [2026-03-11 17:45:53.765] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:45:53.785] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:45:53.785] [CoACD] [info] Manifold Check Time: 0.019758s
215
+ [2026-03-11 17:45:53.789] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:45:53.789] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:45:53.789] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:45:53.841] [CoACD] [info] Preprocess Time: 0.798724s
219
+ [2026-03-11 17:45:53.841] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:45:53.841] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:45:53.841] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:45:53.841] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:45:53.841] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:45:59.532] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:45:59.532] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:45:59.532] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:45:59.532] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:46:02.756] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:46:02.756] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:46:02.756] [CoACD] [info] Processing [50.0%]
231
+ [2026-03-11 17:46:02.756] [CoACD] [info] Processing [25.0%]
232
+ [2026-03-11 17:46:02.756] [CoACD] [info] Processing [0.0%]
233
+ [2026-03-11 17:46:02.756] [CoACD] [info] Processing [75.0%]
234
+ [2026-03-11 17:46:04.907] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:46:04.908] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [12.5%]
238
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [37.5%]
239
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [62.5%]
240
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [75.0%]
241
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [87.5%]
242
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [50.0%]
243
+ [2026-03-11 17:46:04.908] [CoACD] [info] Processing [25.0%]
244
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:46:06.448] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [0.0%]
247
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [28.6%]
248
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [42.9%]
249
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [57.1%]
250
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [71.4%]
251
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [85.7%]
252
+ [2026-03-11 17:46:06.448] [CoACD] [info] Processing [14.3%]
253
+ [2026-03-11 17:46:07.592] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:46:07.593] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [62.5%]
256
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [37.5%]
257
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [50.0%]
258
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [25.0%]
259
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [75.0%]
260
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [12.5%]
261
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [0.0%]
262
+ [2026-03-11 17:46:07.595] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 17:46:08.517] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:46:08.518] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:46:08.518] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:46:08.518] [CoACD] [info] Processing [50.0%]
267
+ [2026-03-11 17:46:08.518] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 17:46:08.518] [CoACD] [info] Processing [25.0%]
269
+ [2026-03-11 17:46:08.518] [CoACD] [info] Processing [87.5%]
270
+ [2026-03-11 17:46:08.527] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 17:46:08.528] [CoACD] [info] Processing [12.5%]
272
+ [2026-03-11 17:46:08.529] [CoACD] [info] Processing [62.5%]
273
+ [2026-03-11 17:46:08.979] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:08.980] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:08.980] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 17:46:08.980] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 17:46:08.985] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:08.985] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:12.388] [CoACD] [warning] Max concavity 0.06854418200111412 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:12.388] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:12.408] [CoACD] [info] Compute Time: 18.566420570015907s
282
+ [2026-03-11 17:46:12.408] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:12] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:13] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:13] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:13] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:14] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:14] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:14] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:14] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:15] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:16] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:16] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <5b57969>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:16] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:16] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:16.612] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:16.612] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:16.612] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:16.612] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:16.612] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:16.612] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:16.612] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:16.612] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:16.612] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:16.612] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:16.612] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:16.612] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:16.612] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:16.612] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:16.612] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:16.612] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:16.615] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:16.615] [CoACD] [info] Manifold Check Time: 0.00298s
321
+ [2026-03-11 17:46:16.615] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:16.615] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:16.615] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:16.633] [CoACD] [info] Preprocess Time: 0.281067s
325
+ [2026-03-11 17:46:16.634] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:16.634] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:16.634] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:16.634] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:16.634] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:18.951] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:18.951] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:18.951] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 17:46:18.951] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 17:46:20.252] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:20.252] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:20.252] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 17:46:20.252] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 17:46:21.215] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:21.215] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:21.215] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 17:46:21.215] [CoACD] [info] Processing [50.0%]
342
+ [2026-03-11 17:46:21.215] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 17:46:21.215] [CoACD] [info] Processing [25.0%]
344
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:21.983] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [75.0%]
348
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [62.5%]
349
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [25.0%]
350
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [12.5%]
351
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [50.0%]
352
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [87.5%]
353
+ [2026-03-11 17:46:21.983] [CoACD] [info] Processing [37.5%]
354
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:22.526] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [62.5%]
358
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [12.5%]
359
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [75.0%]
360
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [25.0%]
361
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [37.5%]
362
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [50.0%]
363
+ [2026-03-11 17:46:22.526] [CoACD] [info] Processing [87.5%]
364
+ [2026-03-11 17:46:23.020] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:23.020] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 17:46:23.020] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 17:46:23.020] [CoACD] [info] Processing [81.8%]
368
+ [2026-03-11 17:46:23.020] [CoACD] [info] Processing [54.5%]
369
+ [2026-03-11 17:46:23.020] [CoACD] [info] Processing [95.5%]
370
+ [2026-03-11 17:46:23.020] [CoACD] [info] Processing [68.2%]
371
+ [2026-03-11 17:46:23.020] [CoACD] [info] Processing [27.3%]
372
+ [2026-03-11 17:46:23.036] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 17:46:23.036] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:23.373] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [12.5%]
377
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [62.5%]
378
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [25.0%]
379
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [37.5%]
380
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [87.5%]
381
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [50.0%]
382
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [75.0%]
383
+ [2026-03-11 17:46:23.373] [CoACD] [info] Processing [0.0%]
384
+ [2026-03-11 17:46:23.380] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:23.380] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:24.074] [CoACD] [warning] Max concavity 0.056668604791774276 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:24.074] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:24.339] [CoACD] [info] Compute Time: 7.704992071026936s
389
+ [2026-03-11 17:46:24.339] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:25] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:26] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:26] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:26] [INFO] Building scene <219639e>...
407
+ [Genesis] [17:46:29] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:35] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:46:55] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:46:56] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:46:56] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_009 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 9: batch_010 (start_episode=430, n_episodes=44)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:47:04] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:47:04] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:47:04] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:47:05] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:47:05] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:47:07] [INFO] Scene <8e0af89> created.
432
+ [Genesis] [17:47:07] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <eeab932>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:47:07] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <17b9fc1>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:08] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <0c42a07>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:10] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <3f8d22c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:10] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:10] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <0d03697>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:10] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:10] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <441fc49>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:10] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:10] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <3f3395e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:11] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:11] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <fda14ab>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:11] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:11] [INFO] Building scene <8e0af89>...
453
+ [Genesis] [17:47:13] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:14] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:14] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:15] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:15] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_010 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 10: batch_011 (start_episode=474, n_episodes=42)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:22] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:22] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:22] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:22] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:22] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:24] [INFO] Scene <633ce38> created.
478
+ [Genesis] [17:47:24] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <04d3eca>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:24] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <494be85>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:26] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:28] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <b769153>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:28] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <4b9eb26>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:28] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:28] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <eeab73b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:28] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:28] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <51e5f5c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:28] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:28] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <d21f4bc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:28] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:28] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <f34d920>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:28] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:28] [INFO] Building scene <633ce38>...
499
+ [Genesis] [17:47:30] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:31] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:32] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:33] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:33] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_011 done!
514
+
515
+ ──────────────────────────────────────────
516
+ Batch 11: batch_012 (start_episode=516, n_episodes=48)
517
+ ──────────────────────────────────────────
518
+ [Genesis] [17:47:42] [INFO] ╭───────────────────────────────────────────────╮
519
+ [Genesis] [17:47:42] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
520
+ [Genesis] [17:47:42] [INFO] ╰───────────────────────────────────────────────╯
521
+ [Genesis] [17:47:42] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
522
+ [Genesis] [17:47:42] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
523
+ [Genesis] [17:47:45] [INFO] Scene <b28a850> created.
524
+ [Genesis] [17:47:45] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <71eb6cc>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
525
+ [Genesis] [17:47:45] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <49a19c2>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
526
+ [Genesis] [17:47:46] [INFO] Applying offset to base link's pose with user provided value in morph.
527
+ [Genesis] [17:47:48] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <f5e35eb>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
528
+ [Genesis] [17:47:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
529
+ [Genesis] [17:47:48] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <1d0bc3e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
530
+ [Genesis] [17:47:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
531
+ [Genesis] [17:47:48] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
532
+ [Genesis] [17:47:49] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <662e16b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
533
+ [Genesis] [17:47:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
534
+ [Genesis] [17:47:49] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
535
+ [Genesis] [17:47:49] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <3faf535>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
536
+ [Genesis] [17:47:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
537
+ [Genesis] [17:47:49] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
538
+ [Genesis] [17:47:49] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <f8bb81e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
539
+ [Genesis] [17:47:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
540
+ [Genesis] [17:47:49] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
541
+ [Genesis] [17:47:49] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <5c6ea90>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
542
+ [Genesis] [17:47:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
543
+ [Genesis] [17:47:49] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
544
+ [Genesis] [17:47:49] [INFO] Building scene <b28a850>...
545
+ [Genesis] [17:47:51] [WARNING] Reference robot position exceeds joint limits.
546
+ [Genesis] [17:47:52] [INFO] Compiling simulation kernels...
547
+ [Genesis] [17:47:53] [INFO] Building visualizer...
548
+ Traceback (most recent call last):
549
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
550
+ sys.exit(main())
551
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
552
+ total_episodes, total_frames = replay_and_export(
553
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
554
+ n_envs = env.n_envs
555
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
556
+
557
+ [Genesis] [17:47:54] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
558
+ [Genesis] [17:47:54] [INFO] 💤 Exiting Genesis and caching compiled kernels...
559
+ Batch batch_012 done!
560
+
561
+ ==========================================
562
+ Worker 2 complete!
563
+ ==========================================
meta/_logs/replay_203706_3.err ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 17:44:59,370 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_013
2
+ 2026-03-11 17:45:09,341 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:45:11,703 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:45:11,703 [INFO] __main__: Loaded 48 trajectories for export
5
+ 2026-03-11 17:45:11,880 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:45:11,880 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:45:11,890 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:45:11,890 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:45:11,890 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:45:12,454 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:45:12,455 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:15,223 [INFO] genesis: Scene ~~~<<4e78467>>~~~ created.
13
+ 2026-03-11 17:45:15,224 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<2d3953e>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:15,295 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:16,112 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<3f30cfd>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:17,557 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:17,603 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:18,038 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:18,425 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:19,108 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:20,006 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:20,663 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:21,107 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:21,791 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 17:45:22,500 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:22,904 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:23,468 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:24,229 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:24,833 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:25,633 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:26,714 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:27,264 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<f56326f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:27,289 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:27,303 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:27,693 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<74f0b51>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:27,770 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:27,789 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:27,800 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:36,732 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:37,401 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:37,998 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:38,563 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<5dbb7d8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:38,675 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:38,702 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:38,718 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:47,848 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:47,959 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:48,096 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:48,310 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:48,388 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:48,542 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<79d95a3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:48,646 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:48,660 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:48,668 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:45:55,478 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:45:55,823 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:45:56,293 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:45:56,810 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:45:56,922 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:45:57,278 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<29cd0cd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:45:57,407 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:45:57,481 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:45:57,513 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:18,773 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:19,097 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:19,426 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:19,504 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:19,777 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:19,873 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:20,206 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:20,528 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:20,813 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:21,192 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:21,660 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:22,020 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:22,099 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:22,429 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:22,689 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:22,971 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:23,243 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<32a45b5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:23,362 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:23,378 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:23,386 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:32,224 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:32,326 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:32,825 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:32,932 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:33,057 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:33,135 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:33,227 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:33,297 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:33,395 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:33,499 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:33,730 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:33,802 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:34,075 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:34,139 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:34,192 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:34,616 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:34,691 [INFO] genesis: Building scene ~~~<<4e78467>>~~~...
113
+ 2026-03-11 17:46:37,407 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:42,708 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:47:01,122 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:47:01,392 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:47:02,553 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:47:02,553 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:47:02,555 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:47:02,557 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:47:04,102 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_014
122
+ 2026-03-11 17:47:08,832 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:47:10,610 [INFO] gs_gym.envs.benchgen.loader: Collected 47 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:47:10,610 [INFO] __main__: Loaded 46 trajectories for export
125
+ 2026-03-11 17:47:10,805 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:47:10,806 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:47:10,813 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:47:10,814 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:47:10,814 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:47:11,092 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:47:11,092 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:47:13,221 [INFO] genesis: Scene ~~~<<330602c>>~~~ created.
133
+ 2026-03-11 17:47:13,221 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<fd6ee3d>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:47:13,295 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<9a8d137>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:14,681 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:16,497 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<f32e608>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:16,522 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:16,537 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<8df6e14>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:16,609 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:16,626 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:16,666 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<08207eb>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:16,757 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:16,785 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:16,836 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<09cb3f3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:16,926 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:16,941 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:16,986 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<32ce2f6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:17,099 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:17,178 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:17,274 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<caf9af8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:17,355 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:17,369 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:17,433 [INFO] genesis: Building scene ~~~<<330602c>>~~~...
166
+ 2026-03-11 17:47:19,060 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:20,338 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:21,093 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:21,307 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:21,934 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:21,934 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:21,935 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:21,936 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:23,236 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_015
175
+ 2026-03-11 17:47:28,681 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:30,852 [INFO] gs_gym.envs.benchgen.loader: Collected 47 trajectories (success only) from 64 trials
177
+ 2026-03-11 17:47:30,852 [INFO] __main__: Loaded 46 trajectories for export
178
+ 2026-03-11 17:47:31,070 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:31,070 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:31,078 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:31,078 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:31,078 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:31,366 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:31,366 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:33,762 [INFO] genesis: Scene ~~~<<a72c0f9>>~~~ created.
186
+ 2026-03-11 17:47:33,763 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<647a36f>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:33,837 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<d528acc>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:35,278 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:37,153 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<cd61361>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:37,179 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:37,194 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<b591cfd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:37,267 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:37,286 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:37,325 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<5f880c7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:37,421 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:37,453 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:37,505 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<54120c3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:37,603 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:37,618 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:37,670 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<26cf3d3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:37,784 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:37,863 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:37,970 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<ec0156a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:38,053 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:38,070 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:38,147 [INFO] genesis: Building scene ~~~<<a72c0f9>>~~~...
219
+ 2026-03-11 17:47:39,851 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:41,145 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:41,914 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:42,144 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:42,777 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:42,777 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:42,778 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:42,778 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
227
+ 2026-03-11 17:47:43,973 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_016
228
+ 2026-03-11 17:47:48,345 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
229
+ 2026-03-11 17:47:49,903 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
230
+ 2026-03-11 17:47:49,904 [INFO] __main__: Loaded 45 trajectories for export
231
+ 2026-03-11 17:47:50,072 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
232
+ 2026-03-11 17:47:50,072 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
233
+ 2026-03-11 17:47:50,080 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
234
+ 2026-03-11 17:47:50,080 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
235
+ 2026-03-11 17:47:50,080 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
236
+ 2026-03-11 17:47:50,352 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
237
+ 2026-03-11 17:47:50,352 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
238
+ 2026-03-11 17:47:52,456 [INFO] genesis: Scene ~~~<<70d3743>>~~~ created.
239
+ 2026-03-11 17:47:52,456 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<8e8e4fb>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
240
+ 2026-03-11 17:47:52,524 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<141e754>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
241
+ 2026-03-11 17:47:53,906 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
242
+ 2026-03-11 17:47:55,690 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<ce6463b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
243
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
244
+ warnings.warn("pygltflib currently does not remove image data "
245
+ 2026-03-11 17:47:55,715 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
246
+ 2026-03-11 17:47:55,729 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<a6638bb>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
247
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
248
+ warnings.warn("pygltflib currently does not remove image data "
249
+ 2026-03-11 17:47:55,801 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
250
+ 2026-03-11 17:47:55,819 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
251
+ 2026-03-11 17:47:55,855 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<da50b8d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
252
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
253
+ warnings.warn("pygltflib currently does not remove image data "
254
+ 2026-03-11 17:47:55,946 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
255
+ 2026-03-11 17:47:55,974 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
256
+ 2026-03-11 17:47:56,025 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<8906fef>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
257
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
258
+ warnings.warn("pygltflib currently does not remove image data "
259
+ 2026-03-11 17:47:56,115 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
260
+ 2026-03-11 17:47:56,130 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
261
+ 2026-03-11 17:47:56,175 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<5241908>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
262
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
263
+ warnings.warn("pygltflib currently does not remove image data "
264
+ 2026-03-11 17:47:56,282 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
265
+ 2026-03-11 17:47:56,350 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
266
+ 2026-03-11 17:47:56,442 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<17b5bf3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
267
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
268
+ warnings.warn("pygltflib currently does not remove image data "
269
+ 2026-03-11 17:47:56,523 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
270
+ 2026-03-11 17:47:56,537 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
271
+ 2026-03-11 17:47:56,601 [INFO] genesis: Building scene ~~~<<70d3743>>~~~...
272
+ 2026-03-11 17:47:58,219 [WARNING] genesis: Reference robot position exceeds joint limits.
273
+ 2026-03-11 17:47:59,424 [INFO] genesis: Compiling simulation kernels...
274
+ 2026-03-11 17:48:00,114 [INFO] genesis: Building visualizer...
275
+ 2026-03-11 17:48:00,314 [INFO] __main__: Environment created successfully
276
+ 2026-03-11 17:48:00,853 [INFO] __main__: Loaded pre-built task map with 1 tasks
277
+ 2026-03-11 17:48:00,853 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
278
+ 2026-03-11 17:48:00,854 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
279
+ 2026-03-11 17:48:00,854 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_3.out ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 3/8: batches [12 13 14 15]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 12: batch_013 (start_episode=564, n_episodes=48)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:45:11] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:45:11] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:45:11] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:45:12] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:45:12] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:15] [INFO] Scene <4e78467> created.
14
+ [Genesis] [17:45:15] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <2d3953e>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:15] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:16] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <3f30cfd>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:17] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:17] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:18] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:18] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:19] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:20] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:20] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:22] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:22] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:23] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:25] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:26] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:27] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <f56326f>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:27] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:27] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:27] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <74f0b51>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:27] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:27] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:27] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:27.800] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:27.802] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:27.802] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:27.802] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:27.802] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:27.802] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:27.802] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:27.802] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:27.802] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:27.802] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:27.802] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:27.802] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:27.802] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:27.802] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:27.802] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:27.802] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:27.804] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:27.804] [CoACD] [info] Manifold Check Time: 0.001884s
58
+ [2026-03-11 17:45:27.804] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:27.804] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:27.804] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:27.828] [CoACD] [info] Preprocess Time: 0.311677s
62
+ [2026-03-11 17:45:27.829] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:27.829] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:27.829] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:27.829] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:27.829] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:31.893] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:31.893] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:31.893] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:31.893] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:34.300] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:34.300] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:34.300] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 17:45:34.300] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 17:45:34.317] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:34.317] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:34.400] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:36.710] [CoACD] [info] Compute Time: 8.880996268708259s
79
+ [2026-03-11 17:45:36.710] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:36] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:37] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:37] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:38] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <5dbb7d8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:38] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:38] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:38] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:38.719] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:38.719] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:38.719] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:38.719] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:38.719] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:38.719] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:38.719] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:38.719] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:38.719] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:38.719] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:38.719] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:38.719] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:38.719] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:38.719] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:38.719] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:38.719] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:38.726] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:38.726] [CoACD] [info] Manifold Check Time: 0.006177s
105
+ [2026-03-11 17:45:38.727] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:38.727] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:38.727] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:38.756] [CoACD] [info] Preprocess Time: 0.466735s
109
+ [2026-03-11 17:45:38.757] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:38.757] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:38.757] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:38.757] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:38.757] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:42.757] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:42.757] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:42.757] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:42.757] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:45.920] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:45.920] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:45.920] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:45.920] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 17:45:45.920] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 17:45:45.920] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 17:45:47.346] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:47.346] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:47.346] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 17:45:47.346] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 17:45:47.357] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:47.357] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:47.476] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:47.815] [CoACD] [info] Compute Time: 9.05801043799147s
132
+ [2026-03-11 17:45:47.815] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:47] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:47] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:48] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:48] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:48] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:48] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <79d95a3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:48] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:48] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:48.669] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:48.669] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:48.669] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:48.669] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:48.669] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:48.669] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:48.669] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:48.669] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:48.669] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:48.669] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:48.669] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:48.669] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:48.669] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:48.669] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:48.669] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:48.669] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:48.671] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:48.671] [CoACD] [info] Manifold Check Time: 0.002273s
160
+ [2026-03-11 17:45:48.672] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:48.672] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:48.672] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:48.690] [CoACD] [info] Preprocess Time: 0.279694s
164
+ [2026-03-11 17:45:48.690] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:48.690] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:48.690] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:48.690] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:48.690] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:45:51.593] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:45:51.593] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:45:51.593] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 17:45:51.593] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 17:45:53.714] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:45:53.714] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:45:53.714] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:45:53.714] [CoACD] [info] Processing [50.0%]
177
+ [2026-03-11 17:45:53.714] [CoACD] [info] Processing [25.0%]
178
+ [2026-03-11 17:45:53.714] [CoACD] [info] Processing [75.0%]
179
+ [2026-03-11 17:45:54.998] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:45:54.998] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:45:54.998] [CoACD] [info] Processing [50.0%]
182
+ [2026-03-11 17:45:54.998] [CoACD] [info] Processing [0.0%]
183
+ [2026-03-11 17:45:55.008] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:45:55.008] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:45:55.069] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:45:55.377] [CoACD] [info] Compute Time: 6.687168007250875s
187
+ [2026-03-11 17:45:55.377] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:45:55] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:45:55] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:45:56] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:45:56] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:45:56] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:45:57] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <29cd0cd>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:45:57] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:45:57] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:45:57] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:45:57.514] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:45:57.514] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:45:57.514] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:45:57.514] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:45:57.514] [CoACD] [info] pca false
202
+ [2026-03-11 17:45:57.514] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:45:57.514] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:45:57.514] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:45:57.514] [CoACD] [info] merge true
206
+ [2026-03-11 17:45:57.514] [CoACD] [info] decimate true
207
+ [2026-03-11 17:45:57.514] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:45:57.514] [CoACD] [info] extrude false
209
+ [2026-03-11 17:45:57.514] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:45:57.514] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:45:57.514] [CoACD] [info] seed 0
212
+ [2026-03-11 17:45:57.516] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:45:57.537] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:45:57.537] [CoACD] [info] Manifold Check Time: 0.02089s
215
+ [2026-03-11 17:45:57.541] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:45:57.541] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:45:57.541] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:45:57.592] [CoACD] [info] Preprocess Time: 0.784701s
219
+ [2026-03-11 17:45:57.592] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:45:57.592] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:45:57.592] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:45:57.592] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:45:57.592] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:46:03.945] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:46:03.945] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:46:03.948] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:46:03.948] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:46:07.574] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:46:07.574] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:46:07.578] [CoACD] [info] Processing [75.0%]
231
+ [2026-03-11 17:46:07.578] [CoACD] [info] Processing [25.0%]
232
+ [2026-03-11 17:46:07.578] [CoACD] [info] Processing [0.0%]
233
+ [2026-03-11 17:46:07.581] [CoACD] [info] Processing [50.0%]
234
+ [2026-03-11 17:46:10.304] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:46:10.305] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [25.0%]
238
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [12.5%]
239
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [62.5%]
240
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [75.0%]
241
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [50.0%]
242
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [87.5%]
243
+ [2026-03-11 17:46:10.305] [CoACD] [info] Processing [37.5%]
244
+ [2026-03-11 17:46:12.230] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:46:12.231] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:46:12.231] [CoACD] [info] Processing [42.9%]
247
+ [2026-03-11 17:46:12.231] [CoACD] [info] Processing [28.6%]
248
+ [2026-03-11 17:46:12.231] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 17:46:12.231] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 17:46:12.231] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 17:46:12.231] [CoACD] [info] Processing [71.4%]
252
+ [2026-03-11 17:46:12.231] [CoACD] [info] Processing [85.7%]
253
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:46:13.460] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [25.0%]
257
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [87.5%]
258
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [37.5%]
259
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [12.5%]
260
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [50.0%]
261
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [62.5%]
262
+ [2026-03-11 17:46:13.460] [CoACD] [info] Processing [75.0%]
263
+ [2026-03-11 17:46:14.418] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:46:14.418] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:46:14.421] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:46:14.421] [CoACD] [info] Processing [87.5%]
267
+ [2026-03-11 17:46:14.421] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 17:46:14.421] [CoACD] [info] Processing [50.0%]
269
+ [2026-03-11 17:46:14.421] [CoACD] [info] Processing [25.0%]
270
+ [2026-03-11 17:46:14.430] [CoACD] [info] Processing [12.5%]
271
+ [2026-03-11 17:46:14.432] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 17:46:14.432] [CoACD] [info] Processing [37.5%]
273
+ [2026-03-11 17:46:14.944] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:14.945] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:14.945] [CoACD] [info] Processing [50.0%]
276
+ [2026-03-11 17:46:14.945] [CoACD] [info] Processing [0.0%]
277
+ [2026-03-11 17:46:14.950] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:14.950] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:18.688] [CoACD] [warning] Max concavity 0.06811336883398217 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:18.688] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:18.715] [CoACD] [info] Compute Time: 21.12295285705477s
282
+ [2026-03-11 17:46:18.715] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:18] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:20] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:20] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:20] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:23] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <32a45b5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:23] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:23] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:23] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:23.386] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:23.387] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:23.387] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:23.387] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:23.387] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:23.387] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:23.387] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:23.387] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:23.387] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:23.387] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:23.387] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:23.387] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:23.387] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:23.387] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:23.387] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:23.387] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:23.391] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:23.391] [CoACD] [info] Manifold Check Time: 0.003653s
321
+ [2026-03-11 17:46:23.391] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:23.391] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:23.391] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:23.415] [CoACD] [info] Preprocess Time: 0.323078s
325
+ [2026-03-11 17:46:23.415] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:23.415] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:23.415] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:23.415] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:23.415] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:25.965] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:25.965] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:25.968] [CoACD] [info] Processing [50.0%]
333
+ [2026-03-11 17:46:25.968] [CoACD] [info] Processing [0.0%]
334
+ [2026-03-11 17:46:27.367] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:27.367] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:27.367] [CoACD] [info] Processing [50.0%]
337
+ [2026-03-11 17:46:27.367] [CoACD] [info] Processing [0.0%]
338
+ [2026-03-11 17:46:28.628] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:28.628] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:28.631] [CoACD] [info] Processing [25.0%]
341
+ [2026-03-11 17:46:28.631] [CoACD] [info] Processing [0.0%]
342
+ [2026-03-11 17:46:28.631] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 17:46:28.631] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:29.608] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [37.5%]
347
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [12.5%]
348
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [25.0%]
349
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [75.0%]
350
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [62.5%]
351
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [87.5%]
352
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [50.0%]
353
+ [2026-03-11 17:46:29.608] [CoACD] [info] Processing [0.0%]
354
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:30.199] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [75.0%]
358
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [12.5%]
359
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [37.5%]
360
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [62.5%]
361
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [87.5%]
362
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [50.0%]
363
+ [2026-03-11 17:46:30.199] [CoACD] [info] Processing [25.0%]
364
+ [2026-03-11 17:46:30.797] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:30.797] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 17:46:30.797] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 17:46:30.797] [CoACD] [info] Processing [54.5%]
368
+ [2026-03-11 17:46:30.797] [CoACD] [info] Processing [81.8%]
369
+ [2026-03-11 17:46:30.797] [CoACD] [info] Processing [27.3%]
370
+ [2026-03-11 17:46:30.797] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 17:46:30.797] [CoACD] [info] Processing [68.2%]
372
+ [2026-03-11 17:46:30.811] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 17:46:30.813] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:31.180] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [50.0%]
378
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [12.5%]
379
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [75.0%]
380
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [37.5%]
381
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [25.0%]
382
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [62.5%]
383
+ [2026-03-11 17:46:31.180] [CoACD] [info] Processing [87.5%]
384
+ [2026-03-11 17:46:31.188] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:31.188] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:31.899] [CoACD] [warning] Max concavity 0.05589155883172315 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:31.899] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:32.177] [CoACD] [info] Compute Time: 8.7622499037534s
389
+ [2026-03-11 17:46:32.177] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:34] [INFO] Building scene <4e78467>...
407
+ [Genesis] [17:46:37] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:42] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:47:01] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:47:02] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:47:02] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_013 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 13: batch_014 (start_episode=612, n_episodes=46)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:47:10] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:47:10] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:47:10] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:47:11] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:47:11] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:47:13] [INFO] Scene <330602c> created.
432
+ [Genesis] [17:47:13] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <fd6ee3d>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:47:13] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <9a8d137>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:14] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <f32e608>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <8df6e14>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:16] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <08207eb>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:16] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <09cb3f3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:16] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <32ce2f6>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:17] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:17] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <caf9af8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:17] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:17] [INFO] Building scene <330602c>...
453
+ [Genesis] [17:47:19] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:20] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:21] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:21] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:21] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_014 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 14: batch_015 (start_episode=658, n_episodes=46)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:31] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:31] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:31] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:31] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:31] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:33] [INFO] Scene <a72c0f9> created.
478
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <647a36f>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <d528acc>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:35] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <cd61361>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <b591cfd>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <5f880c7>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <54120c3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <26cf3d3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:37] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:37] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <ec0156a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:38] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:38] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:38] [INFO] Building scene <a72c0f9>...
499
+ [Genesis] [17:47:39] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:41] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:41] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:42] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:42] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_015 done!
514
+
515
+ ──────────────────────────────────────────
516
+ Batch 15: batch_016 (start_episode=704, n_episodes=45)
517
+ ──────────────────────────────────────────
518
+ [Genesis] [17:47:50] [INFO] ╭───────────────────────────────────────────────╮
519
+ [Genesis] [17:47:50] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
520
+ [Genesis] [17:47:50] [INFO] ╰───────────────────────────────────────────────╯
521
+ [Genesis] [17:47:50] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
522
+ [Genesis] [17:47:50] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
523
+ [Genesis] [17:47:52] [INFO] Scene <70d3743> created.
524
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <8e8e4fb>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
525
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <141e754>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
526
+ [Genesis] [17:47:53] [INFO] Applying offset to base link's pose with user provided value in morph.
527
+ [Genesis] [17:47:55] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <ce6463b>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
528
+ [Genesis] [17:47:55] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
529
+ [Genesis] [17:47:55] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <a6638bb>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
530
+ [Genesis] [17:47:55] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
531
+ [Genesis] [17:47:55] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
532
+ [Genesis] [17:47:55] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <da50b8d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
533
+ [Genesis] [17:47:55] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
534
+ [Genesis] [17:47:55] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
535
+ [Genesis] [17:47:56] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <8906fef>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
536
+ [Genesis] [17:47:56] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
537
+ [Genesis] [17:47:56] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
538
+ [Genesis] [17:47:56] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <5241908>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
539
+ [Genesis] [17:47:56] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
540
+ [Genesis] [17:47:56] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
541
+ [Genesis] [17:47:56] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <17b5bf3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
542
+ [Genesis] [17:47:56] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
543
+ [Genesis] [17:47:56] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
544
+ [Genesis] [17:47:56] [INFO] Building scene <70d3743>...
545
+ [Genesis] [17:47:58] [WARNING] Reference robot position exceeds joint limits.
546
+ [Genesis] [17:47:59] [INFO] Compiling simulation kernels...
547
+ [Genesis] [17:48:00] [INFO] Building visualizer...
548
+ Traceback (most recent call last):
549
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
550
+ sys.exit(main())
551
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
552
+ total_episodes, total_frames = replay_and_export(
553
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
554
+ n_envs = env.n_envs
555
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
556
+
557
+ [Genesis] [17:48:00] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
558
+ [Genesis] [17:48:00] [INFO] 💤 Exiting Genesis and caching compiled kernels...
559
+ Batch batch_016 done!
560
+
561
+ ==========================================
562
+ Worker 3 complete!
563
+ ==========================================
meta/_logs/replay_203706_4.err ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 17:45:05,448 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_017
2
+ 2026-03-11 17:45:10,665 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:45:12,619 [INFO] gs_gym.envs.benchgen.loader: Collected 51 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:45:12,619 [INFO] __main__: Loaded 51 trajectories for export
5
+ 2026-03-11 17:45:12,820 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:45:12,820 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:45:12,828 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:45:12,828 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:45:12,828 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:45:13,387 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:45:13,387 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:15,856 [INFO] genesis: Scene ~~~<<cbfb81f>>~~~ created.
13
+ 2026-03-11 17:45:15,857 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<78eef27>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:15,916 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:16,789 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<3409692>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:18,306 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:18,359 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:18,785 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:19,168 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:19,865 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:20,767 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:21,443 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:21,885 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:22,590 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 17:45:23,291 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:23,697 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:24,270 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:25,032 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:25,625 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:26,422 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:27,515 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:28,008 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<811e856>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:28,028 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:28,042 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:28,435 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<6c9afd0>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:28,508 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:28,527 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:28,538 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:37,663 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:38,344 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:38,942 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:39,521 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<5cb4d08>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:39,616 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:39,644 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:39,659 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:48,917 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:49,027 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:49,162 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:49,383 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:49,462 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:49,617 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<1a9bc83>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:49,708 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:49,723 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:49,731 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:45:56,759 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:45:57,105 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:45:57,575 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:45:58,105 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:45:58,242 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:45:58,616 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<551f019>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:45:58,741 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:45:58,819 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:45:58,852 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:18,844 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:19,145 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:19,484 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:19,766 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:19,876 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:20,185 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:20,266 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:20,518 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:20,791 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:21,150 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:21,610 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:21,980 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:22,074 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:22,331 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:22,587 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:22,907 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:23,227 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<199858f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:23,316 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:23,332 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:23,339 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:31,893 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:31,988 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:32,430 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:32,533 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:32,620 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:32,747 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:32,895 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:33,134 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:33,214 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:33,294 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:33,729 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:33,852 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:33,935 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:34,024 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:34,289 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:34,377 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:34,450 [INFO] genesis: Building scene ~~~<<cbfb81f>>~~~...
113
+ 2026-03-11 17:46:36,981 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:41,965 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:47:00,339 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:47:00,599 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:47:01,036 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:47:01,036 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:47:01,037 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:47:01,038 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:47:02,570 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_018
122
+ 2026-03-11 17:47:06,970 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:47:08,387 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:47:08,388 [INFO] __main__: Loaded 45 trajectories for export
125
+ 2026-03-11 17:47:08,543 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:47:08,543 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:47:08,551 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:47:08,551 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:47:08,551 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:47:08,829 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:47:08,829 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:47:10,896 [INFO] genesis: Scene ~~~<<64a89ab>>~~~ created.
133
+ 2026-03-11 17:47:10,897 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<c3d51c7>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:47:10,966 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<fc904f7>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:12,336 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:14,107 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<65eb34d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:14,132 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:14,146 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<48f3054>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:14,217 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:14,234 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:14,271 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<caefe91>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:14,362 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:14,389 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:14,441 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<fba189d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:14,530 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:14,545 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:14,590 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<ff7bb52>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:14,695 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:14,764 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:14,855 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<525f7a3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:14,936 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:14,951 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:15,015 [INFO] genesis: Building scene ~~~<<64a89ab>>~~~...
166
+ 2026-03-11 17:47:16,634 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:17,820 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:18,510 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:18,714 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:19,254 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:19,255 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:19,256 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:19,256 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:20,407 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_019
175
+ 2026-03-11 17:47:24,691 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:26,429 [INFO] gs_gym.envs.benchgen.loader: Collected 52 trajectories (success only) from 64 trials
177
+ 2026-03-11 17:47:26,429 [INFO] __main__: Loaded 52 trajectories for export
178
+ 2026-03-11 17:47:26,597 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:26,597 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:26,605 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:26,605 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:26,605 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:26,887 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:26,887 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:29,156 [INFO] genesis: Scene ~~~<<8f9810a>>~~~ created.
186
+ 2026-03-11 17:47:29,157 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<e80b1e7>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:29,226 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<fb0946b>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:30,614 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:32,402 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<3a6fa33>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:32,428 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:32,442 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<cddcec0>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:32,515 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:32,533 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:32,569 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<43fe5d1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:32,661 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:32,690 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:32,741 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<70fc5a2>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:32,830 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:32,846 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:32,891 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<949b370>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:32,997 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:33,066 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:33,157 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<41226c5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:33,239 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:33,254 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:33,318 [INFO] genesis: Building scene ~~~<<8f9810a>>~~~...
219
+ 2026-03-11 17:47:34,942 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:36,134 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:36,823 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:37,016 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:37,467 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:37,467 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:37,467 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:37,468 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
227
+ 2026-03-11 17:47:38,592 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_020
228
+ 2026-03-11 17:47:42,929 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
229
+ 2026-03-11 17:47:44,456 [INFO] gs_gym.envs.benchgen.loader: Collected 40 trajectories (success only) from 64 trials
230
+ 2026-03-11 17:47:44,457 [INFO] __main__: Loaded 40 trajectories for export
231
+ 2026-03-11 17:47:44,610 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
232
+ 2026-03-11 17:47:44,610 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
233
+ 2026-03-11 17:47:44,617 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
234
+ 2026-03-11 17:47:44,617 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
235
+ 2026-03-11 17:47:44,617 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
236
+ 2026-03-11 17:47:44,905 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
237
+ 2026-03-11 17:47:44,906 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
238
+ 2026-03-11 17:47:47,102 [INFO] genesis: Scene ~~~<<8150891>>~~~ created.
239
+ 2026-03-11 17:47:47,102 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<179b5c3>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
240
+ 2026-03-11 17:47:47,177 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<f3cabeb>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
241
+ 2026-03-11 17:47:48,969 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
242
+ 2026-03-11 17:47:51,208 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<126d85f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
243
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
244
+ warnings.warn("pygltflib currently does not remove image data "
245
+ 2026-03-11 17:47:51,235 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
246
+ 2026-03-11 17:47:51,251 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<b103891>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
247
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
248
+ warnings.warn("pygltflib currently does not remove image data "
249
+ 2026-03-11 17:47:51,333 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
250
+ 2026-03-11 17:47:51,357 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
251
+ 2026-03-11 17:47:51,407 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<2e813ea>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
252
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
253
+ warnings.warn("pygltflib currently does not remove image data "
254
+ 2026-03-11 17:47:51,541 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
255
+ 2026-03-11 17:47:51,580 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
256
+ 2026-03-11 17:47:51,660 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<4a7bd3f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
257
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
258
+ warnings.warn("pygltflib currently does not remove image data "
259
+ 2026-03-11 17:47:51,762 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
260
+ 2026-03-11 17:47:51,784 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
261
+ 2026-03-11 17:47:51,845 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<ecf5787>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
262
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
263
+ warnings.warn("pygltflib currently does not remove image data "
264
+ 2026-03-11 17:47:51,972 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
265
+ 2026-03-11 17:47:52,048 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
266
+ 2026-03-11 17:47:52,178 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<157c9a6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
267
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
268
+ warnings.warn("pygltflib currently does not remove image data "
269
+ 2026-03-11 17:47:52,273 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
270
+ 2026-03-11 17:47:52,291 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
271
+ 2026-03-11 17:47:52,395 [INFO] genesis: Building scene ~~~<<8150891>>~~~...
272
+ 2026-03-11 17:47:54,199 [WARNING] genesis: Reference robot position exceeds joint limits.
273
+ 2026-03-11 17:47:55,908 [INFO] genesis: Compiling simulation kernels...
274
+ 2026-03-11 17:47:56,962 [INFO] genesis: Building visualizer...
275
+ 2026-03-11 17:47:57,264 [INFO] __main__: Environment created successfully
276
+ 2026-03-11 17:47:58,070 [INFO] __main__: Loaded pre-built task map with 1 tasks
277
+ 2026-03-11 17:47:58,070 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
278
+ 2026-03-11 17:47:58,071 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
279
+ 2026-03-11 17:47:58,071 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_4.out ADDED
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1
+ ==========================================
2
+ Worker 4/8: batches [16 17 18 19]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 16: batch_017 (start_episode=749, n_episodes=51)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:45:12] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:45:12] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:45:12] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:45:13] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:45:13] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:15] [INFO] Scene <cbfb81f> created.
14
+ [Genesis] [17:45:15] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <78eef27>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:15] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:16] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <3409692>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:18] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:18] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:18] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:19] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:19] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:20] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:22] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:23] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:23] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:25] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:25] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:26] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:27] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:28] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <811e856>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:28] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:28] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <6c9afd0>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:28] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:28] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:28] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:28.539] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:28.540] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:28.540] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:28.540] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:28.540] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:28.540] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:28.540] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:28.540] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:28.540] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:28.540] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:28.540] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:28.540] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:28.540] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:28.540] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:28.540] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:28.540] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:28.542] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:28.542] [CoACD] [info] Manifold Check Time: 0.001823s
58
+ [2026-03-11 17:45:28.542] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:28.542] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:28.542] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:28.568] [CoACD] [info] Preprocess Time: 0.333198s
62
+ [2026-03-11 17:45:28.569] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:28.569] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:28.569] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:28.569] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:28.569] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:32.803] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:32.803] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:32.803] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:32.803] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:35.237] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:35.237] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:35.237] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 17:45:35.237] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 17:45:35.254] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:35.254] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:35.337] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:37.637] [CoACD] [info] Compute Time: 9.068270754010882s
79
+ [2026-03-11 17:45:37.637] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:37] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:38] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:38] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:39] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <5cb4d08>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:39] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:39] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:39] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:39.659] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:39.659] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:39.659] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:39.659] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:39.659] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:39.659] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:39.659] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:39.659] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:39.659] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:39.659] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:39.659] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:39.659] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:39.659] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:39.659] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:39.659] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:39.660] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:39.666] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:39.666] [CoACD] [info] Manifold Check Time: 0.006246s
105
+ [2026-03-11 17:45:39.668] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:39.668] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:39.668] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:39.699] [CoACD] [info] Preprocess Time: 0.491922s
109
+ [2026-03-11 17:45:39.699] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:39.699] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:39.699] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:39.699] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:39.700] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:43.728] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:43.729] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:43.729] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:43.729] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:46.955] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:46.955] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:46.956] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:46.956] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 17:45:46.956] [CoACD] [info] Processing [75.0%]
123
+ [2026-03-11 17:45:46.956] [CoACD] [info] Processing [25.0%]
124
+ [2026-03-11 17:45:48.388] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:48.388] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:48.388] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 17:45:48.388] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 17:45:48.399] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:48.399] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:48.532] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:48.881] [CoACD] [info] Compute Time: 9.181351464008912s
132
+ [2026-03-11 17:45:48.881] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:48] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:49] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:49] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:49] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:49] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:49] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <1a9bc83>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:49] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:49] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:49.731] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:49.731] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:49.731] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:49.731] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:49.731] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:49.731] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:49.731] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:49.731] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:49.731] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:49.731] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:49.731] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:49.731] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:49.731] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:49.731] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:49.731] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:49.731] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:49.734] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:49.734] [CoACD] [info] Manifold Check Time: 0.002254s
160
+ [2026-03-11 17:45:49.734] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:49.734] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:49.734] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:49.753] [CoACD] [info] Preprocess Time: 0.299543s
164
+ [2026-03-11 17:45:49.753] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:49.753] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:49.753] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:49.753] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:49.754] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:45:52.698] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:45:52.698] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:45:52.701] [CoACD] [info] Processing [50.0%]
172
+ [2026-03-11 17:45:52.705] [CoACD] [info] Processing [0.0%]
173
+ [2026-03-11 17:45:54.975] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:45:54.976] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:45:54.976] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:45:54.976] [CoACD] [info] Processing [50.0%]
177
+ [2026-03-11 17:45:54.976] [CoACD] [info] Processing [25.0%]
178
+ [2026-03-11 17:45:54.976] [CoACD] [info] Processing [75.0%]
179
+ [2026-03-11 17:45:56.326] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:45:56.326] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:45:56.326] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 17:45:56.326] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 17:45:56.334] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:45:56.334] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:45:56.406] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:45:56.720] [CoACD] [info] Compute Time: 6.9660958430031314s
187
+ [2026-03-11 17:45:56.720] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:45:56] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:45:57] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:45:57] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:45:58] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:45:58] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:45:58] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <551f019>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:45:58] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:45:58] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:45:58] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:45:58.853] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:45:58.853] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:45:58.853] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:45:58.853] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:45:58.853] [CoACD] [info] pca false
202
+ [2026-03-11 17:45:58.853] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:45:58.853] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:45:58.853] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:45:58.853] [CoACD] [info] merge true
206
+ [2026-03-11 17:45:58.853] [CoACD] [info] decimate true
207
+ [2026-03-11 17:45:58.853] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:45:58.853] [CoACD] [info] extrude false
209
+ [2026-03-11 17:45:58.853] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:45:58.853] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:45:58.853] [CoACD] [info] seed 0
212
+ [2026-03-11 17:45:58.855] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:45:58.876] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:45:58.876] [CoACD] [info] Manifold Check Time: 0.021071s
215
+ [2026-03-11 17:45:58.880] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:45:58.881] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:45:58.881] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:45:58.948] [CoACD] [info] Preprocess Time: 0.811376s
219
+ [2026-03-11 17:45:58.949] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:45:58.949] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:45:58.949] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:45:58.949] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:45:58.949] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:46:05.502] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:46:05.502] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:46:05.506] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:46:05.506] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:46:09.038] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:46:09.039] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:46:09.039] [CoACD] [info] Processing [75.0%]
231
+ [2026-03-11 17:46:09.039] [CoACD] [info] Processing [50.0%]
232
+ [2026-03-11 17:46:09.039] [CoACD] [info] Processing [25.0%]
233
+ [2026-03-11 17:46:09.039] [CoACD] [info] Processing [0.0%]
234
+ [2026-03-11 17:46:11.262] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:46:11.263] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [37.5%]
238
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [25.0%]
239
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [75.0%]
240
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [62.5%]
241
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [50.0%]
242
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [87.5%]
243
+ [2026-03-11 17:46:11.263] [CoACD] [info] Processing [12.5%]
244
+ [2026-03-11 17:46:12.743] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:46:12.744] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:46:12.744] [CoACD] [info] Processing [0.0%]
247
+ [2026-03-11 17:46:12.744] [CoACD] [info] Processing [42.9%]
248
+ [2026-03-11 17:46:12.744] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 17:46:12.744] [CoACD] [info] Processing [28.6%]
250
+ [2026-03-11 17:46:12.744] [CoACD] [info] Processing [85.7%]
251
+ [2026-03-11 17:46:12.744] [CoACD] [info] Processing [71.4%]
252
+ [2026-03-11 17:46:12.744] [CoACD] [info] Processing [57.1%]
253
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:46:13.851] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [25.0%]
256
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [37.5%]
257
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [75.0%]
258
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [12.5%]
259
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [62.5%]
260
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [50.0%]
261
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [0.0%]
262
+ [2026-03-11 17:46:13.851] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 17:46:14.763] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:46:14.763] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:46:14.763] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:46:14.763] [CoACD] [info] Processing [50.0%]
267
+ [2026-03-11 17:46:14.763] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 17:46:14.763] [CoACD] [info] Processing [25.0%]
269
+ [2026-03-11 17:46:14.763] [CoACD] [info] Processing [87.5%]
270
+ [2026-03-11 17:46:14.774] [CoACD] [info] Processing [12.5%]
271
+ [2026-03-11 17:46:14.775] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 17:46:14.775] [CoACD] [info] Processing [37.5%]
273
+ [2026-03-11 17:46:15.230] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:15.230] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:15.230] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 17:46:15.230] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 17:46:15.235] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:15.235] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:18.766] [CoACD] [warning] Max concavity 0.06786467636121103 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:18.766] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:18.788] [CoACD] [info] Compute Time: 19.838972172001377s
282
+ [2026-03-11 17:46:18.788] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:18] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:19] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:20] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:20] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:20] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:20] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:23] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <199858f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:23] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:23] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:23] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:23.339] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:23.339] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:23.339] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:23.339] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:23.339] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:23.339] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:23.339] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:23.339] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:23.339] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:23.339] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:23.339] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:23.339] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:23.339] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:23.339] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:23.339] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:23.339] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:23.342] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:23.342] [CoACD] [info] Manifold Check Time: 0.002871s
321
+ [2026-03-11 17:46:23.343] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:23.343] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:23.343] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:23.363] [CoACD] [info] Preprocess Time: 0.299907s
325
+ [2026-03-11 17:46:23.363] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:23.363] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:23.363] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:23.363] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:23.363] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:25.919] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:25.919] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:25.921] [CoACD] [info] Processing [50.0%]
333
+ [2026-03-11 17:46:25.924] [CoACD] [info] Processing [0.0%]
334
+ [2026-03-11 17:46:27.346] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:27.346] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:27.346] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 17:46:27.346] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 17:46:28.386] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:28.387] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:28.387] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 17:46:28.387] [CoACD] [info] Processing [75.0%]
342
+ [2026-03-11 17:46:28.387] [CoACD] [info] Processing [50.0%]
343
+ [2026-03-11 17:46:28.387] [CoACD] [info] Processing [25.0%]
344
+ [2026-03-11 17:46:29.235] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:29.235] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [12.5%]
348
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [50.0%]
349
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [25.0%]
350
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [87.5%]
351
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [75.0%]
352
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [62.5%]
353
+ [2026-03-11 17:46:29.238] [CoACD] [info] Processing [37.5%]
354
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:29.843] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [25.0%]
358
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [12.5%]
359
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [62.5%]
360
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [37.5%]
361
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [50.0%]
362
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [87.5%]
363
+ [2026-03-11 17:46:29.843] [CoACD] [info] Processing [75.0%]
364
+ [2026-03-11 17:46:30.458] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:30.458] [CoACD] [info] iter 6 ---- waiting pool: 24
366
+ [2026-03-11 17:46:30.458] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 17:46:30.458] [CoACD] [info] Processing [50.0%]
368
+ [2026-03-11 17:46:30.458] [CoACD] [info] Processing [25.0%]
369
+ [2026-03-11 17:46:30.461] [CoACD] [info] Processing [87.5%]
370
+ [2026-03-11 17:46:30.462] [CoACD] [info] Processing [75.0%]
371
+ [2026-03-11 17:46:30.465] [CoACD] [info] Processing [62.5%]
372
+ [2026-03-11 17:46:30.467] [CoACD] [info] Processing [12.5%]
373
+ [2026-03-11 17:46:30.470] [CoACD] [info] Processing [37.5%]
374
+ [2026-03-11 17:46:30.843] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:30.843] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:30.846] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 17:46:30.846] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 17:46:30.846] [CoACD] [info] Processing [50.0%]
379
+ [2026-03-11 17:46:30.846] [CoACD] [info] Processing [25.0%]
380
+ [2026-03-11 17:46:30.846] [CoACD] [info] Processing [12.5%]
381
+ [2026-03-11 17:46:30.846] [CoACD] [info] Processing [62.5%]
382
+ [2026-03-11 17:46:30.846] [CoACD] [info] Processing [75.0%]
383
+ [2026-03-11 17:46:30.850] [CoACD] [info] Processing [87.5%]
384
+ [2026-03-11 17:46:30.853] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:30.853] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:31.587] [CoACD] [warning] Max concavity 0.05611300009443899 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:31.587] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:31.852] [CoACD] [info] Compute Time: 8.488869971013628s
389
+ [2026-03-11 17:46:31.852] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:31] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:31] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:32] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:34] [INFO] Building scene <cbfb81f>...
407
+ [Genesis] [17:46:36] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:41] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:47:00] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:47:01] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:47:01] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_017 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 17: batch_018 (start_episode=800, n_episodes=45)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:47:08] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:47:08] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:47:08] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:47:08] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:47:08] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:47:10] [INFO] Scene <64a89ab> created.
432
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <c3d51c7>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:47:10] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <fc904f7>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:12] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <65eb34d>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <48f3054>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <caefe91>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <fba189d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <ff7bb52>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:14] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <525f7a3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:14] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:14] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:15] [INFO] Building scene <64a89ab>...
453
+ [Genesis] [17:47:16] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:17] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:18] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:19] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:19] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_018 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 18: batch_019 (start_episode=845, n_episodes=52)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:26] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:26] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:26] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:26] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:26] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:29] [INFO] Scene <8f9810a> created.
478
+ [Genesis] [17:47:29] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <e80b1e7>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:29] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <fb0946b>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:30] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:32] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <3a6fa33>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:32] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <cddcec0>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:32] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:32] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <43fe5d1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:32] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:32] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <70fc5a2>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:32] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:32] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <949b370>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:33] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <41226c5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:33] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:33] [INFO] Building scene <8f9810a>...
499
+ [Genesis] [17:47:34] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:36] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:36] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:37] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:37] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_019 done!
514
+
515
+ ──────────────────────────────────────────
516
+ Batch 19: batch_020 (start_episode=897, n_episodes=40)
517
+ ──────────────────────────────────────────
518
+ [Genesis] [17:47:44] [INFO] ╭───────────────────────────────────────────────╮
519
+ [Genesis] [17:47:44] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
520
+ [Genesis] [17:47:44] [INFO] ╰───────────────────────────────────────────────╯
521
+ [Genesis] [17:47:44] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
522
+ [Genesis] [17:47:44] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
523
+ [Genesis] [17:47:47] [INFO] Scene <8150891> created.
524
+ [Genesis] [17:47:47] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <179b5c3>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
525
+ [Genesis] [17:47:47] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <f3cabeb>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
526
+ [Genesis] [17:47:48] [INFO] Applying offset to base link's pose with user provided value in morph.
527
+ [Genesis] [17:47:51] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <126d85f>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
528
+ [Genesis] [17:47:51] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
529
+ [Genesis] [17:47:51] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <b103891>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
530
+ [Genesis] [17:47:51] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
531
+ [Genesis] [17:47:51] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
532
+ [Genesis] [17:47:51] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <2e813ea>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
533
+ [Genesis] [17:47:51] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
534
+ [Genesis] [17:47:51] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
535
+ [Genesis] [17:47:51] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <4a7bd3f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
536
+ [Genesis] [17:47:51] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
537
+ [Genesis] [17:47:51] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
538
+ [Genesis] [17:47:51] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <ecf5787>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
539
+ [Genesis] [17:47:51] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
540
+ [Genesis] [17:47:52] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
541
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <157c9a6>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
542
+ [Genesis] [17:47:52] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
543
+ [Genesis] [17:47:52] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
544
+ [Genesis] [17:47:52] [INFO] Building scene <8150891>...
545
+ [Genesis] [17:47:54] [WARNING] Reference robot position exceeds joint limits.
546
+ [Genesis] [17:47:55] [INFO] Compiling simulation kernels...
547
+ [Genesis] [17:47:56] [INFO] Building visualizer...
548
+ Traceback (most recent call last):
549
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
550
+ sys.exit(main())
551
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
552
+ total_episodes, total_frames = replay_and_export(
553
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
554
+ n_envs = env.n_envs
555
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
556
+
557
+ [Genesis] [17:47:58] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
558
+ [Genesis] [17:47:58] [INFO] 💤 Exiting Genesis and caching compiled kernels...
559
+ Batch batch_020 done!
560
+
561
+ ==========================================
562
+ Worker 4 complete!
563
+ ==========================================
meta/_logs/replay_203706_5.err ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 17:45:08,735 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_021
2
+ 2026-03-11 17:45:14,711 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:45:16,346 [INFO] gs_gym.envs.benchgen.loader: Collected 50 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:45:16,346 [INFO] __main__: Loaded 50 trajectories for export
5
+ 2026-03-11 17:45:16,511 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:45:16,511 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:45:16,519 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:45:16,519 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:45:16,519 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:45:17,047 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:45:17,047 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:19,149 [INFO] genesis: Scene ~~~<<c65108f>>~~~ created.
13
+ 2026-03-11 17:45:19,149 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<5d8296b>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:19,195 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:19,997 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<503f48d>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:21,334 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:21,376 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:21,801 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:22,186 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:22,880 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:23,759 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:24,420 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:24,868 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:25,556 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 17:45:26,260 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:26,659 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:27,220 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:27,972 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:28,541 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:29,339 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:30,413 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:30,943 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<85a2c3e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:30,964 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:30,977 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:31,367 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<138e60d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:31,438 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:31,456 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:31,467 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:40,407 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:41,081 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:41,674 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:42,243 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<5f9120a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:42,335 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:42,363 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:42,377 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:51,414 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:51,523 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:51,685 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:51,912 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:52,013 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:52,202 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<7d56707>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:52,299 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:52,314 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:52,323 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:45:59,592 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:45:59,946 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:46:00,423 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:46:00,963 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:46:01,081 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:46:01,457 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<feeaaf6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:46:01,585 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:46:01,659 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:46:01,697 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:21,002 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:21,280 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:21,574 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:21,631 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:21,868 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:22,163 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:22,244 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:22,536 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:22,954 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:23,272 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:23,608 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:23,865 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:24,100 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:24,352 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:24,657 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:24,721 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:24,963 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<9900d5a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:25,045 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:25,060 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:25,065 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:33,014 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:33,113 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:33,200 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:33,549 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:33,636 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:33,713 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:33,818 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:33,884 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:33,987 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:34,055 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:34,286 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:34,352 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:34,775 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:35,049 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:35,140 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:35,247 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:35,309 [INFO] genesis: Building scene ~~~<<c65108f>>~~~...
113
+ 2026-03-11 17:46:37,806 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:43,244 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:47:02,424 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:47:02,642 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:47:03,070 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:47:03,070 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:47:03,071 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:47:03,072 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:47:04,585 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_022
122
+ 2026-03-11 17:47:08,848 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:47:10,422 [INFO] gs_gym.envs.benchgen.loader: Collected 46 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:47:10,423 [INFO] __main__: Loaded 46 trajectories for export
125
+ 2026-03-11 17:47:10,605 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:47:10,605 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:47:10,612 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:47:10,612 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:47:10,612 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:47:10,886 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:47:10,886 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:47:13,010 [INFO] genesis: Scene ~~~<<32c0ec1>>~~~ created.
133
+ 2026-03-11 17:47:13,011 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<bce6124>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:47:13,082 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<56716cc>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:14,475 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:16,305 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<d133b4e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:16,330 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:16,345 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<6de95a3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:16,417 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:16,434 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:16,471 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<fdad089>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:16,565 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:16,595 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:16,647 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<2161a09>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:16,742 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:16,759 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:16,804 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<500f98a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:16,922 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:16,994 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:17,086 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<dcf19b1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:17,173 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:17,190 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:17,255 [INFO] genesis: Building scene ~~~<<32c0ec1>>~~~...
166
+ 2026-03-11 17:47:18,874 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:20,106 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:20,840 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:21,042 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:21,527 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:21,527 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:21,528 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:21,528 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:22,687 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_023
175
+ 2026-03-11 17:47:26,624 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:28,143 [INFO] gs_gym.envs.benchgen.loader: Collected 44 trajectories (success only) from 64 trials
177
+ 2026-03-11 17:47:28,144 [INFO] __main__: Loaded 44 trajectories for export
178
+ 2026-03-11 17:47:28,329 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:28,329 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:28,336 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:28,336 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:28,336 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:28,613 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:28,613 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:30,674 [INFO] genesis: Scene ~~~<<16f6f3f>>~~~ created.
186
+ 2026-03-11 17:47:30,674 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<946395e>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:30,739 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<5040f15>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:32,116 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:33,941 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<c1b62e8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:33,966 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:33,981 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<1fdb47c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:34,053 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:34,071 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:34,107 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<0d0aef1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:34,200 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:34,231 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:34,283 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<ee52c09>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:34,378 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:34,394 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:34,439 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<611102e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:34,558 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:34,630 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:34,722 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<b0c982e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:34,809 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:34,826 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:34,891 [INFO] genesis: Building scene ~~~<<16f6f3f>>~~~...
219
+ 2026-03-11 17:47:36,520 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:37,761 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:38,450 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:38,643 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:39,112 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:39,112 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:39,113 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:39,113 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
227
+ 2026-03-11 17:47:40,361 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_024
228
+ 2026-03-11 17:47:44,500 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
229
+ 2026-03-11 17:47:46,066 [INFO] gs_gym.envs.benchgen.loader: Collected 46 trajectories (success only) from 64 trials
230
+ 2026-03-11 17:47:46,066 [INFO] __main__: Loaded 46 trajectories for export
231
+ 2026-03-11 17:47:46,246 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
232
+ 2026-03-11 17:47:46,246 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
233
+ 2026-03-11 17:47:46,254 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
234
+ 2026-03-11 17:47:46,254 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
235
+ 2026-03-11 17:47:46,254 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
236
+ 2026-03-11 17:47:46,635 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
237
+ 2026-03-11 17:47:46,635 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
238
+ 2026-03-11 17:47:48,882 [INFO] genesis: Scene ~~~<<3532b91>>~~~ created.
239
+ 2026-03-11 17:47:48,882 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<c09b2fe>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
240
+ 2026-03-11 17:47:48,953 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<8fdcc77>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
241
+ 2026-03-11 17:47:50,531 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
242
+ 2026-03-11 17:47:52,526 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<f7896da>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
243
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
244
+ warnings.warn("pygltflib currently does not remove image data "
245
+ 2026-03-11 17:47:52,556 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
246
+ 2026-03-11 17:47:52,571 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<0f33820>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
247
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
248
+ warnings.warn("pygltflib currently does not remove image data "
249
+ 2026-03-11 17:47:52,661 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
250
+ 2026-03-11 17:47:52,679 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
251
+ 2026-03-11 17:47:52,726 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<fdf0d28>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
252
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
253
+ warnings.warn("pygltflib currently does not remove image data "
254
+ 2026-03-11 17:47:52,832 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
255
+ 2026-03-11 17:47:52,861 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
256
+ 2026-03-11 17:47:52,914 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<1e6ef1d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
257
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
258
+ warnings.warn("pygltflib currently does not remove image data "
259
+ 2026-03-11 17:47:53,008 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
260
+ 2026-03-11 17:47:53,026 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
261
+ 2026-03-11 17:47:53,078 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<fdbe4bd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
262
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
263
+ warnings.warn("pygltflib currently does not remove image data "
264
+ 2026-03-11 17:47:53,188 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
265
+ 2026-03-11 17:47:53,263 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
266
+ 2026-03-11 17:47:53,377 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<68f0472>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
267
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
268
+ warnings.warn("pygltflib currently does not remove image data "
269
+ 2026-03-11 17:47:53,465 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
270
+ 2026-03-11 17:47:53,481 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
271
+ 2026-03-11 17:47:53,557 [INFO] genesis: Building scene ~~~<<3532b91>>~~~...
272
+ 2026-03-11 17:47:55,246 [WARNING] genesis: Reference robot position exceeds joint limits.
273
+ 2026-03-11 17:47:56,691 [INFO] genesis: Compiling simulation kernels...
274
+ 2026-03-11 17:47:57,550 [INFO] genesis: Building visualizer...
275
+ 2026-03-11 17:47:57,805 [INFO] __main__: Environment created successfully
276
+ 2026-03-11 17:47:58,455 [INFO] __main__: Loaded pre-built task map with 1 tasks
277
+ 2026-03-11 17:47:58,455 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
278
+ 2026-03-11 17:47:58,456 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
279
+ 2026-03-11 17:47:58,456 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_5.out ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 5/8: batches [20 21 22 23]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 20: batch_021 (start_episode=937, n_episodes=50)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:45:16] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:45:16] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:45:16] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:45:17] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:45:17] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:19] [INFO] Scene <c65108f> created.
14
+ [Genesis] [17:45:19] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <5d8296b>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:19] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:19] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <503f48d>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:21] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:21] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:22] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:22] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:23] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:25] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:26] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:26] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:27] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:27] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:28] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:29] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:30] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:30] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <85a2c3e>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:30] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:31] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <138e60d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:31] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:31] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:31] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:31.468] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:31.469] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:31.469] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:31.469] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:31.469] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:31.469] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:31.469] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:31.469] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:31.469] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:31.469] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:31.469] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:31.469] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:31.469] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:31.469] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:31.469] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:31.469] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:31.471] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:31.471] [CoACD] [info] Manifold Check Time: 0.001762s
58
+ [2026-03-11 17:45:31.471] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:31.471] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:31.471] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:31.497] [CoACD] [info] Preprocess Time: 0.342471s
62
+ [2026-03-11 17:45:31.497] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:31.497] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:31.497] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:31.497] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:31.498] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:35.579] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:35.579] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:35.579] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:35.579] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:37.984] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:37.984] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:37.984] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 17:45:37.984] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 17:45:37.998] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:37.998] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:38.080] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:40.384] [CoACD] [info] Compute Time: 8.887192897964269s
79
+ [2026-03-11 17:45:40.385] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:40] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:41] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:41] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:42] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <5f9120a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:42] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:42] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:42] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:42.378] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:42.378] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:42.378] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:42.378] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:42.378] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:42.378] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:42.378] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:42.378] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:42.378] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:42.378] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:42.378] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:42.378] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:42.378] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:42.378] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:42.378] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:42.378] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:42.384] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:42.384] [CoACD] [info] Manifold Check Time: 0.0062s
105
+ [2026-03-11 17:45:42.386] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:42.386] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:42.386] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:42.417] [CoACD] [info] Preprocess Time: 0.498361s
109
+ [2026-03-11 17:45:42.418] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:42.418] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:42.418] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:42.418] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:42.418] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:46.358] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:46.358] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:46.358] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:46.358] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:49.489] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:49.489] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:49.489] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:49.489] [CoACD] [info] Processing [25.0%]
122
+ [2026-03-11 17:45:49.489] [CoACD] [info] Processing [50.0%]
123
+ [2026-03-11 17:45:49.489] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 17:45:50.914] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:50.914] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:50.914] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 17:45:50.914] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 17:45:50.924] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:50.924] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:51.043] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:51.381] [CoACD] [info] Compute Time: 8.963407687842846s
132
+ [2026-03-11 17:45:51.381] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:51] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:52] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:52] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <7d56707>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:52] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:52] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:52] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:52.323] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:52.323] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:52.323] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:52.323] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:52.323] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:52.323] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:52.323] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:52.323] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:52.323] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:52.323] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:52.323] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:52.323] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:52.323] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:52.323] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:52.323] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:52.324] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:52.326] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:52.326] [CoACD] [info] Manifold Check Time: 0.002834s
160
+ [2026-03-11 17:45:52.327] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:52.327] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:52.327] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:52.345] [CoACD] [info] Preprocess Time: 0.255494s
164
+ [2026-03-11 17:45:52.345] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:52.345] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:52.345] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:52.345] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:52.345] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:45:55.475] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:45:55.475] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:45:55.479] [CoACD] [info] Processing [50.0%]
172
+ [2026-03-11 17:45:55.483] [CoACD] [info] Processing [0.0%]
173
+ [2026-03-11 17:45:57.800] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:45:57.800] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:45:57.800] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:45:57.800] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 17:45:57.800] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 17:45:57.800] [CoACD] [info] Processing [25.0%]
179
+ [2026-03-11 17:45:59.167] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:45:59.167] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:45:59.167] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 17:45:59.167] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 17:45:59.175] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:45:59.175] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:45:59.239] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:45:59.555] [CoACD] [info] Compute Time: 7.2093948209658265s
187
+ [2026-03-11 17:45:59.555] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:45:59] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:45:59] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:46:00] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:46:00] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:46:01] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:46:01] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <feeaaf6>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:46:01] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:46:01] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:46:01] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:46:01.699] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:46:01.699] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:46:01.699] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:46:01.699] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:46:01.699] [CoACD] [info] pca false
202
+ [2026-03-11 17:46:01.699] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:46:01.699] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:46:01.699] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:46:01.699] [CoACD] [info] merge true
206
+ [2026-03-11 17:46:01.699] [CoACD] [info] decimate true
207
+ [2026-03-11 17:46:01.699] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:46:01.699] [CoACD] [info] extrude false
209
+ [2026-03-11 17:46:01.699] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:46:01.699] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:46:01.699] [CoACD] [info] seed 0
212
+ [2026-03-11 17:46:01.700] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:46:01.724] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:46:01.724] [CoACD] [info] Manifold Check Time: 0.023609s
215
+ [2026-03-11 17:46:01.728] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:46:01.728] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:46:01.728] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:46:01.786] [CoACD] [info] Preprocess Time: 0.844589s
219
+ [2026-03-11 17:46:01.786] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:46:01.786] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:46:01.786] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:46:01.786] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:46:01.786] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:46:08.074] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:46:08.074] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:46:08.074] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:46:08.074] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:46:11.481] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:46:11.481] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:46:11.481] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 17:46:11.481] [CoACD] [info] Processing [25.0%]
232
+ [2026-03-11 17:46:11.481] [CoACD] [info] Processing [50.0%]
233
+ [2026-03-11 17:46:11.481] [CoACD] [info] Processing [75.0%]
234
+ [2026-03-11 17:46:13.565] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:46:13.566] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [75.0%]
238
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [25.0%]
239
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [12.5%]
240
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [62.5%]
241
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [50.0%]
242
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [87.5%]
243
+ [2026-03-11 17:46:13.566] [CoACD] [info] Processing [37.5%]
244
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:46:15.053] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [14.3%]
247
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [85.7%]
248
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [71.4%]
249
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [57.1%]
250
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [0.0%]
251
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [42.9%]
252
+ [2026-03-11 17:46:15.053] [CoACD] [info] Processing [28.6%]
253
+ [2026-03-11 17:46:16.174] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:46:16.175] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [12.5%]
257
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [62.5%]
258
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [25.0%]
259
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [75.0%]
260
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [50.0%]
261
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [37.5%]
262
+ [2026-03-11 17:46:16.175] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 17:46:17.126] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:46:17.127] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:46:17.127] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:46:17.127] [CoACD] [info] Processing [50.0%]
267
+ [2026-03-11 17:46:17.127] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 17:46:17.127] [CoACD] [info] Processing [25.0%]
269
+ [2026-03-11 17:46:17.127] [CoACD] [info] Processing [87.5%]
270
+ [2026-03-11 17:46:17.137] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 17:46:17.138] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 17:46:17.139] [CoACD] [info] Processing [12.5%]
273
+ [2026-03-11 17:46:17.594] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:17.594] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:17.594] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 17:46:17.594] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 17:46:17.600] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:17.600] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:20.937] [CoACD] [warning] Max concavity 0.06888905245414545 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:20.937] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:20.957] [CoACD] [info] Compute Time: 19.17051958432421s
282
+ [2026-03-11 17:46:20.957] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:21] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:22] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:23] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:23] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:23] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:24] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:24] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <9900d5a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:25] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:25] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:25.066] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:25.066] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:25.066] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:25.066] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:25.066] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:25.066] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:25.066] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:25.066] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:25.066] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:25.066] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:25.066] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:25.066] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:25.066] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:25.066] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:25.066] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:25.066] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:25.069] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:25.069] [CoACD] [info] Manifold Check Time: 0.002802s
321
+ [2026-03-11 17:46:25.069] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:25.069] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:25.069] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:25.087] [CoACD] [info] Preprocess Time: 0.270496s
325
+ [2026-03-11 17:46:25.087] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:25.087] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:25.087] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:25.087] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:25.087] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:27.368] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:27.369] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:27.369] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 17:46:27.369] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 17:46:28.703] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:28.703] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:28.703] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 17:46:28.703] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 17:46:29.720] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:29.720] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:29.723] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 17:46:29.723] [CoACD] [info] Processing [75.0%]
342
+ [2026-03-11 17:46:29.723] [CoACD] [info] Processing [50.0%]
343
+ [2026-03-11 17:46:29.723] [CoACD] [info] Processing [25.0%]
344
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:30.517] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [75.0%]
348
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [25.0%]
349
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [50.0%]
350
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [62.5%]
351
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [87.5%]
352
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [12.5%]
353
+ [2026-03-11 17:46:30.517] [CoACD] [info] Processing [37.5%]
354
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:31.078] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [87.5%]
358
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [37.5%]
359
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [75.0%]
360
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [12.5%]
361
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [50.0%]
362
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [62.5%]
363
+ [2026-03-11 17:46:31.078] [CoACD] [info] Processing [25.0%]
364
+ [2026-03-11 17:46:31.651] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:31.651] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 17:46:31.651] [CoACD] [info] Processing [27.3%]
367
+ [2026-03-11 17:46:31.651] [CoACD] [info] Processing [81.8%]
368
+ [2026-03-11 17:46:31.651] [CoACD] [info] Processing [54.5%]
369
+ [2026-03-11 17:46:31.651] [CoACD] [info] Processing [68.2%]
370
+ [2026-03-11 17:46:31.651] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 17:46:31.651] [CoACD] [info] Processing [0.0%]
372
+ [2026-03-11 17:46:31.667] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 17:46:31.668] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:32.007] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [75.0%]
379
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [62.5%]
380
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [50.0%]
381
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [12.5%]
382
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [25.0%]
383
+ [2026-03-11 17:46:32.007] [CoACD] [info] Processing [87.5%]
384
+ [2026-03-11 17:46:32.015] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:32.015] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:32.689] [CoACD] [warning] Max concavity 0.05698311472042204 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:32.689] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:32.963] [CoACD] [info] Compute Time: 7.876170217059553s
389
+ [2026-03-11 17:46:32.963] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:33] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:34] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:35] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:35] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:35] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:35] [INFO] Building scene <c65108f>...
407
+ [Genesis] [17:46:37] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:43] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:47:02] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:47:03] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:47:03] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_021 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 21: batch_022 (start_episode=987, n_episodes=46)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:47:10] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:47:10] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:47:10] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:47:10] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:47:10] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:47:13] [INFO] Scene <32c0ec1> created.
432
+ [Genesis] [17:47:13] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <bce6124>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:47:13] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <56716cc>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:14] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <d133b4e>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <6de95a3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:16] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <fdad089>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:16] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <2161a09>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:16] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:16] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <500f98a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:16] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:17] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <dcf19b1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:17] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:17] [INFO] Building scene <32c0ec1>...
453
+ [Genesis] [17:47:18] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:20] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:20] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:21] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:21] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_022 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 22: batch_023 (start_episode=1033, n_episodes=44)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:28] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:28] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:28] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:28] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:28] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:30] [INFO] Scene <16f6f3f> created.
478
+ [Genesis] [17:47:30] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <946395e>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:30] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <5040f15>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:32] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <c1b62e8>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:33] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <1fdb47c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:34] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:34] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:34] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <0d0aef1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:34] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:34] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:34] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <ee52c09>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:34] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:34] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:34] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <611102e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:34] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:34] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:34] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <b0c982e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:34] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:34] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:34] [INFO] Building scene <16f6f3f>...
499
+ [Genesis] [17:47:36] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:37] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:38] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:39] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:39] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_023 done!
514
+
515
+ ──────────────────────────────────────────
516
+ Batch 23: batch_024 (start_episode=1077, n_episodes=46)
517
+ ──────────────────────────────────────────
518
+ [Genesis] [17:47:46] [INFO] ╭───────────────────────────────────────────────╮
519
+ [Genesis] [17:47:46] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
520
+ [Genesis] [17:47:46] [INFO] ╰───────────────────────────────────────────────╯
521
+ [Genesis] [17:47:46] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
522
+ [Genesis] [17:47:46] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
523
+ [Genesis] [17:47:48] [INFO] Scene <3532b91> created.
524
+ [Genesis] [17:47:48] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <c09b2fe>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
525
+ [Genesis] [17:47:48] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <8fdcc77>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
526
+ [Genesis] [17:47:50] [INFO] Applying offset to base link's pose with user provided value in morph.
527
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <f7896da>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
528
+ [Genesis] [17:47:52] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
529
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <0f33820>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
530
+ [Genesis] [17:47:52] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
531
+ [Genesis] [17:47:52] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
532
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <fdf0d28>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
533
+ [Genesis] [17:47:52] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
534
+ [Genesis] [17:47:52] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
535
+ [Genesis] [17:47:52] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <1e6ef1d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
536
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
537
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
538
+ [Genesis] [17:47:53] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <fdbe4bd>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
539
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
540
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
541
+ [Genesis] [17:47:53] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <68f0472>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
542
+ [Genesis] [17:47:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
543
+ [Genesis] [17:47:53] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
544
+ [Genesis] [17:47:53] [INFO] Building scene <3532b91>...
545
+ [Genesis] [17:47:55] [WARNING] Reference robot position exceeds joint limits.
546
+ [Genesis] [17:47:56] [INFO] Compiling simulation kernels...
547
+ [Genesis] [17:47:57] [INFO] Building visualizer...
548
+ Traceback (most recent call last):
549
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
550
+ sys.exit(main())
551
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
552
+ total_episodes, total_frames = replay_and_export(
553
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
554
+ n_envs = env.n_envs
555
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
556
+
557
+ [Genesis] [17:47:58] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
558
+ [Genesis] [17:47:58] [INFO] 💤 Exiting Genesis and caching compiled kernels...
559
+ Batch batch_024 done!
560
+
561
+ ==========================================
562
+ Worker 5 complete!
563
+ ==========================================
meta/_logs/replay_203706_6.err ADDED
@@ -0,0 +1,279 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 17:45:16,349 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_025
2
+ 2026-03-11 17:45:21,735 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:45:23,540 [INFO] gs_gym.envs.benchgen.loader: Collected 49 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:45:23,540 [INFO] __main__: Loaded 49 trajectories for export
5
+ 2026-03-11 17:45:23,722 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:45:23,723 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:45:23,730 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:45:23,730 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:45:23,730 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:45:24,264 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:45:24,265 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:26,386 [INFO] genesis: Scene ~~~<<ae431e0>>~~~ created.
13
+ 2026-03-11 17:45:26,387 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<c402681>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:26,431 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:27,245 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<d7aedf8>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:28,586 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:28,628 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:29,072 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:29,454 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:30,160 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:31,063 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:31,739 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:32,200 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:32,898 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 17:45:33,615 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:34,036 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:34,605 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:35,379 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:35,970 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:36,793 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:37,888 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:38,419 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<5f7d6fa>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:38,440 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:38,454 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:38,846 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<637740b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:38,918 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:38,936 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:38,947 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:47,882 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:48,552 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:49,145 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:49,713 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<6553fd8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:49,805 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:49,833 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:49,847 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:58,959 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:59,076 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:59,223 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:59,449 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:59,530 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:59,690 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<834594a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:59,781 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:59,796 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:59,804 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:46:06,575 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:46:06,902 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:46:07,353 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:46:07,854 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:46:07,953 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:46:08,298 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<132cd43>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:46:08,404 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:46:08,473 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:46:08,504 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:27,069 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:27,350 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:27,602 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:27,893 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:27,950 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:28,257 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:28,341 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:28,581 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:28,908 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:29,261 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:29,536 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:29,972 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:30,223 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:30,518 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:30,764 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:30,850 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:31,149 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<cc08590>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:31,236 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:31,251 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:31,256 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:39,588 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:39,689 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:40,142 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:40,245 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:40,328 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:40,405 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:40,478 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:40,724 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:40,842 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:41,120 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:41,210 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:41,324 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:41,413 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:41,535 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:41,612 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:42,049 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:42,132 [INFO] genesis: Building scene ~~~<<ae431e0>>~~~...
113
+ 2026-03-11 17:46:44,764 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:50,025 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:47:08,380 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:47:08,601 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:47:08,952 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:47:08,952 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:47:08,953 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:47:08,954 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:47:10,317 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_026
122
+ 2026-03-11 17:47:14,313 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:47:15,793 [INFO] gs_gym.envs.benchgen.loader: Collected 44 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:47:15,794 [INFO] __main__: Loaded 44 trajectories for export
125
+ 2026-03-11 17:47:15,949 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:47:15,949 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:47:15,956 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:47:15,956 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:47:15,956 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:47:16,247 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:47:16,247 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:47:18,310 [INFO] genesis: Scene ~~~<<8930129>>~~~ created.
133
+ 2026-03-11 17:47:18,310 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<bad04a1>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:47:18,375 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<562798c>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:19,720 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:21,496 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<61cc7ae>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:21,522 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:21,536 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<99df3cb>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:21,607 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:21,625 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:21,660 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<c161fab>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:21,753 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:21,781 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:21,833 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<e5419f3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:21,922 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:21,937 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:21,982 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<a28c4b0>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:22,094 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:22,173 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:22,263 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<9550076>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:22,345 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:22,359 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:22,423 [INFO] genesis: Building scene ~~~<<8930129>>~~~...
166
+ 2026-03-11 17:47:24,057 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:25,272 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:25,964 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:26,210 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:26,684 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:26,684 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:26,685 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:26,685 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:27,796 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_027
175
+ 2026-03-11 17:47:32,620 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:34,584 [INFO] gs_gym.envs.benchgen.loader: Collected 42 trajectories (success only) from 63 trials
177
+ 2026-03-11 17:47:34,584 [INFO] __main__: Loaded 42 trajectories for export
178
+ 2026-03-11 17:47:34,828 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:34,828 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:34,843 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:34,843 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:34,843 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:35,158 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:35,158 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:37,964 [INFO] genesis: Scene ~~~<<7439a9f>>~~~ created.
186
+ 2026-03-11 17:47:37,964 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<8a1f801>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:38,057 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<0331d36>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:39,734 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:41,795 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<441c598>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:41,821 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:41,840 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<b7a4e6c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:41,919 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:41,943 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:41,989 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<a892e91>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:42,090 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:42,129 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:42,195 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<e8a0d0e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:42,293 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:42,309 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:42,374 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<823f455>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:42,487 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:42,576 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:42,691 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<7f49c08>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:42,785 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:42,802 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:42,896 [INFO] genesis: Building scene ~~~<<7439a9f>>~~~...
219
+ 2026-03-11 17:47:44,670 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:46,021 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:46,886 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:47,130 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:47,773 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:47,773 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:47,774 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:47,774 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
227
+ 2026-03-11 17:47:49,020 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_028
228
+ 2026-03-11 17:47:54,320 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
229
+ 2026-03-11 17:47:57,432 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
230
+ 2026-03-11 17:47:57,432 [INFO] __main__: Loaded 45 trajectories for export
231
+ 2026-03-11 17:47:57,750 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
232
+ 2026-03-11 17:47:57,750 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
233
+ 2026-03-11 17:47:57,760 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
234
+ 2026-03-11 17:47:57,760 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
235
+ 2026-03-11 17:47:57,760 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
236
+ 2026-03-11 17:47:58,141 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
237
+ 2026-03-11 17:47:58,141 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
238
+ 2026-03-11 17:48:01,693 [INFO] genesis: Scene ~~~<<5ca9515>>~~~ created.
239
+ 2026-03-11 17:48:01,693 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<5612add>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
240
+ 2026-03-11 17:48:01,810 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<ee6a654>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
241
+ 2026-03-11 17:48:03,937 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
242
+ 2026-03-11 17:48:06,563 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<dbfbb17>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
243
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
244
+ warnings.warn("pygltflib currently does not remove image data "
245
+ 2026-03-11 17:48:06,611 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
246
+ 2026-03-11 17:48:06,633 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<aee0111>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
247
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
248
+ warnings.warn("pygltflib currently does not remove image data "
249
+ 2026-03-11 17:48:06,736 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
250
+ 2026-03-11 17:48:06,770 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
251
+ 2026-03-11 17:48:06,833 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<192b020>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
252
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
253
+ warnings.warn("pygltflib currently does not remove image data "
254
+ 2026-03-11 17:48:06,984 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
255
+ 2026-03-11 17:48:07,029 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
256
+ 2026-03-11 17:48:07,132 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<6e4c282>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
257
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
258
+ warnings.warn("pygltflib currently does not remove image data "
259
+ 2026-03-11 17:48:07,272 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
260
+ 2026-03-11 17:48:07,301 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
261
+ 2026-03-11 17:48:07,381 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<8bf75e8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
262
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
263
+ warnings.warn("pygltflib currently does not remove image data "
264
+ 2026-03-11 17:48:07,521 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
265
+ 2026-03-11 17:48:07,615 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
266
+ 2026-03-11 17:48:07,813 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<7f77888>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
267
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
268
+ warnings.warn("pygltflib currently does not remove image data "
269
+ 2026-03-11 17:48:07,948 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
270
+ 2026-03-11 17:48:07,979 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
271
+ 2026-03-11 17:48:08,152 [INFO] genesis: Building scene ~~~<<5ca9515>>~~~...
272
+ 2026-03-11 17:48:10,293 [WARNING] genesis: Reference robot position exceeds joint limits.
273
+ 2026-03-11 17:48:12,551 [INFO] genesis: Compiling simulation kernels...
274
+ 2026-03-11 17:48:13,875 [INFO] genesis: Building visualizer...
275
+ 2026-03-11 17:48:14,243 [INFO] __main__: Environment created successfully
276
+ 2026-03-11 17:48:15,602 [INFO] __main__: Loaded pre-built task map with 1 tasks
277
+ 2026-03-11 17:48:15,602 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
278
+ 2026-03-11 17:48:15,603 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
279
+ 2026-03-11 17:48:15,603 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_6.out ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 6/8: batches [24 25 26 27]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 24: batch_025 (start_episode=1123, n_episodes=49)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:45:23] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:45:23] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:45:23] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:45:24] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:45:24] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:26] [INFO] Scene <ae431e0> created.
14
+ [Genesis] [17:45:26] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <c402681>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:26] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:27] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <d7aedf8>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:28] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:28] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:29] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:29] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:30] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:31] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:31] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:32] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:32] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:33] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:34] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:34] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:35] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:35] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:36] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:37] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:38] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <5f7d6fa>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:38] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:38] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:38] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <637740b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:38] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:38] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:38] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:38.947] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:38.949] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:38.949] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:38.949] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:38.949] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:38.949] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:38.949] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:38.949] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:38.949] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:38.949] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:38.949] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:38.949] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:38.949] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:38.949] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:38.949] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:38.949] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:38.951] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:38.951] [CoACD] [info] Manifold Check Time: 0.001866s
58
+ [2026-03-11 17:45:38.952] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:38.952] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:38.952] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:38.979] [CoACD] [info] Preprocess Time: 0.320262s
62
+ [2026-03-11 17:45:38.979] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:38.979] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:38.979] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:38.979] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:38.982] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:43.055] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:43.055] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:43.055] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:43.055] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:45.459] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:45.459] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:45.459] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 17:45:45.459] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 17:45:45.475] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:45.475] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:45.558] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:47.857] [CoACD] [info] Compute Time: 8.87854247901123s
79
+ [2026-03-11 17:45:47.857] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:47] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:48] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:49] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:49] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <6553fd8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:49] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:49] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:49.847] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:49.847] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:49.847] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:49.847] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:49.847] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:49.847] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:49.847] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:49.848] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:49.848] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:49.848] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:49.848] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:49.848] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:49.848] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:49.848] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:49.848] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:49.848] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:49.854] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:49.854] [CoACD] [info] Manifold Check Time: 0.00614s
105
+ [2026-03-11 17:45:49.855] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:49.855] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:49.855] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:49.889] [CoACD] [info] Preprocess Time: 0.511566s
109
+ [2026-03-11 17:45:49.889] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:49.889] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:49.889] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:49.889] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:49.889] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:53.825] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:53.825] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:53.825] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:53.825] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:57.001] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:57.001] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:57.001] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:57.001] [CoACD] [info] Processing [75.0%]
122
+ [2026-03-11 17:45:57.001] [CoACD] [info] Processing [50.0%]
123
+ [2026-03-11 17:45:57.001] [CoACD] [info] Processing [25.0%]
124
+ [2026-03-11 17:45:58.424] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:58.424] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:58.424] [CoACD] [info] Processing [50.0%]
127
+ [2026-03-11 17:45:58.424] [CoACD] [info] Processing [0.0%]
128
+ [2026-03-11 17:45:58.433] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:58.433] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:58.586] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:58.925] [CoACD] [info] Compute Time: 9.035608374048024s
132
+ [2026-03-11 17:45:58.925] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:58] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:59] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:59] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:59] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:59] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:59] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <834594a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:59] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:59] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:59] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:59.804] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:59.804] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:59.804] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:59.804] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:59.804] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:59.804] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:59.804] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:59.804] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:59.804] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:59.804] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:59.804] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:59.804] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:59.804] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:59.804] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:59.804] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:59.805] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:59.807] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:59.807] [CoACD] [info] Manifold Check Time: 0.00238s
160
+ [2026-03-11 17:45:59.807] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:59.807] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:59.807] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:59.827] [CoACD] [info] Preprocess Time: 0.309746s
164
+ [2026-03-11 17:45:59.827] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:59.827] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:59.827] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:59.827] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:59.828] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:46:02.721] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:46:02.721] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:46:02.721] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 17:46:02.721] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 17:46:04.881] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:46:04.881] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:46:04.884] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:46:04.884] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 17:46:04.884] [CoACD] [info] Processing [25.0%]
178
+ [2026-03-11 17:46:04.884] [CoACD] [info] Processing [50.0%]
179
+ [2026-03-11 17:46:06.173] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:46:06.173] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:46:06.173] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 17:46:06.173] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 17:46:06.181] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:46:06.181] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:46:06.242] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:46:06.544] [CoACD] [info] Compute Time: 6.716738099989016s
187
+ [2026-03-11 17:46:06.544] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:46:07] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:46:07] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:46:07] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:46:08] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <132cd43>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:46:08] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:46:08] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:46:08] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:46:08.505] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:46:08.505] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:46:08.505] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:46:08.505] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:46:08.505] [CoACD] [info] pca false
202
+ [2026-03-11 17:46:08.505] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:46:08.505] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:46:08.505] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:46:08.505] [CoACD] [info] merge true
206
+ [2026-03-11 17:46:08.505] [CoACD] [info] decimate true
207
+ [2026-03-11 17:46:08.505] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:46:08.505] [CoACD] [info] extrude false
209
+ [2026-03-11 17:46:08.505] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:46:08.505] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:46:08.505] [CoACD] [info] seed 0
212
+ [2026-03-11 17:46:08.506] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:46:08.525] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:46:08.525] [CoACD] [info] Manifold Check Time: 0.019159s
215
+ [2026-03-11 17:46:08.530] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:46:08.530] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:46:08.530] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:46:08.580] [CoACD] [info] Preprocess Time: 0.777676s
219
+ [2026-03-11 17:46:08.580] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:46:08.580] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:46:08.580] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:46:08.580] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:46:08.581] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:46:14.312] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:46:14.312] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:46:14.312] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:46:14.312] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:46:17.589] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:46:17.589] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:46:17.589] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 17:46:17.589] [CoACD] [info] Processing [25.0%]
232
+ [2026-03-11 17:46:17.589] [CoACD] [info] Processing [75.0%]
233
+ [2026-03-11 17:46:17.589] [CoACD] [info] Processing [50.0%]
234
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:46:19.683] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [62.5%]
238
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [25.0%]
239
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [37.5%]
240
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [75.0%]
241
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [12.5%]
242
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [87.5%]
243
+ [2026-03-11 17:46:19.683] [CoACD] [info] Processing [50.0%]
244
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:46:21.156] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [0.0%]
247
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [14.3%]
248
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [71.4%]
249
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [42.9%]
250
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [28.6%]
252
+ [2026-03-11 17:46:21.156] [CoACD] [info] Processing [85.7%]
253
+ [2026-03-11 17:46:22.234] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:46:22.234] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [75.0%]
256
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [0.0%]
257
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [37.5%]
258
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [50.0%]
259
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [62.5%]
260
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [12.5%]
261
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [25.0%]
262
+ [2026-03-11 17:46:22.237] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 17:46:23.166] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:46:23.166] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:46:23.166] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:46:23.166] [CoACD] [info] Processing [87.5%]
267
+ [2026-03-11 17:46:23.166] [CoACD] [info] Processing [25.0%]
268
+ [2026-03-11 17:46:23.166] [CoACD] [info] Processing [75.0%]
269
+ [2026-03-11 17:46:23.166] [CoACD] [info] Processing [50.0%]
270
+ [2026-03-11 17:46:23.177] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 17:46:23.178] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 17:46:23.178] [CoACD] [info] Processing [12.5%]
273
+ [2026-03-11 17:46:23.635] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:23.635] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:23.635] [CoACD] [info] Processing [50.0%]
276
+ [2026-03-11 17:46:23.635] [CoACD] [info] Processing [0.0%]
277
+ [2026-03-11 17:46:23.640] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:23.640] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:27.003] [CoACD] [warning] Max concavity 0.06787657215786941 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:27.003] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:27.023] [CoACD] [info] Compute Time: 18.442881505994592s
282
+ [2026-03-11 17:46:27.023] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:29] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:29] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:29] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:30] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:30] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:30] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:30] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:31] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <cc08590>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:31] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:31] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:31] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:31.257] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:31.257] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:31.257] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:31.257] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:31.257] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:31.257] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:31.257] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:31.257] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:31.257] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:31.257] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:31.257] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:31.257] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:31.257] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:31.257] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:31.257] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:31.257] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:31.260] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:31.260] [CoACD] [info] Manifold Check Time: 0.00294s
321
+ [2026-03-11 17:46:31.261] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:31.261] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:31.261] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:31.281] [CoACD] [info] Preprocess Time: 0.299176s
325
+ [2026-03-11 17:46:31.282] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:31.282] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:31.282] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:31.282] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:31.282] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:33.664] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:33.664] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:33.665] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 17:46:33.665] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 17:46:35.044] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:35.044] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:35.044] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 17:46:35.044] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 17:46:36.063] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:36.063] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:36.063] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 17:46:36.063] [CoACD] [info] Processing [25.0%]
342
+ [2026-03-11 17:46:36.063] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 17:46:36.063] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:36.882] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [37.5%]
348
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [12.5%]
349
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [87.5%]
350
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [50.0%]
351
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [75.0%]
352
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [62.5%]
353
+ [2026-03-11 17:46:36.882] [CoACD] [info] Processing [25.0%]
354
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:37.466] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [37.5%]
358
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [25.0%]
359
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [62.5%]
360
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [75.0%]
361
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [12.5%]
362
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [50.0%]
363
+ [2026-03-11 17:46:37.466] [CoACD] [info] Processing [87.5%]
364
+ [2026-03-11 17:46:38.045] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:38.045] [CoACD] [info] iter 6 ---- waiting pool: 24
366
+ [2026-03-11 17:46:38.045] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 17:46:38.045] [CoACD] [info] Processing [87.5%]
368
+ [2026-03-11 17:46:38.045] [CoACD] [info] Processing [75.0%]
369
+ [2026-03-11 17:46:38.045] [CoACD] [info] Processing [25.0%]
370
+ [2026-03-11 17:46:38.045] [CoACD] [info] Processing [50.0%]
371
+ [2026-03-11 17:46:38.059] [CoACD] [info] Processing [37.5%]
372
+ [2026-03-11 17:46:38.060] [CoACD] [info] Processing [12.5%]
373
+ [2026-03-11 17:46:38.062] [CoACD] [info] Processing [62.5%]
374
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:38.473] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [50.0%]
379
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [25.0%]
380
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [87.5%]
381
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [12.5%]
382
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [75.0%]
383
+ [2026-03-11 17:46:38.473] [CoACD] [info] Processing [62.5%]
384
+ [2026-03-11 17:46:38.480] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:38.480] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:39.262] [CoACD] [warning] Max concavity 0.060207829490092464 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:39.262] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:39.539] [CoACD] [info] Compute Time: 8.256974604038987s
389
+ [2026-03-11 17:46:39.539] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:39] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:39] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:41] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:41] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:41] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:41] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:41] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:41] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:42] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:42] [INFO] Building scene <ae431e0>...
407
+ [Genesis] [17:46:44] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:50] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:47:08] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:47:08] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:47:08] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_025 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 25: batch_026 (start_episode=1172, n_episodes=44)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:47:15] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:47:15] [INFO] │��┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:47:15] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:47:16] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:47:16] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:47:18] [INFO] Scene <8930129> created.
432
+ [Genesis] [17:47:18] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <bad04a1>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:47:18] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <562798c>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:19] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <61cc7ae>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <99df3cb>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:21] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <c161fab>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:21] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <e5419f3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:21] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <a28c4b0>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:22] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:22] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:22] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <9550076>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:22] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:22] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:22] [INFO] Building scene <8930129>...
453
+ [Genesis] [17:47:24] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:25] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:25] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:26] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:26] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_026 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 26: batch_027 (start_episode=1216, n_episodes=42)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:34] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:34] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:34] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:35] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:35] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:37] [INFO] Scene <7439a9f> created.
478
+ [Genesis] [17:47:37] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <8a1f801>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:38] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <0331d36>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:39] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:41] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <441c598>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:41] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:41] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <b7a4e6c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:41] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:41] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:41] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <a892e91>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:42] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:42] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:42] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <e8a0d0e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:42] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:42] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:42] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <823f455>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:42] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:42] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:42] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <7f49c08>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:42] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:42] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:42] [INFO] Building scene <7439a9f>...
499
+ [Genesis] [17:47:44] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:46] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:46] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:47] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:47] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_027 done!
514
+
515
+ ──────────────────────────────────────────
516
+ Batch 27: batch_028 (start_episode=1258, n_episodes=45)
517
+ ──────────────────────────────────────────
518
+ [Genesis] [17:47:57] [INFO] ╭───────────────────────────────────────────────╮
519
+ [Genesis] [17:47:57] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
520
+ [Genesis] [17:47:57] [INFO] ╰───────────────────────────────────────────────╯
521
+ [Genesis] [17:47:58] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
522
+ [Genesis] [17:47:58] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
523
+ [Genesis] [17:48:01] [INFO] Scene <5ca9515> created.
524
+ [Genesis] [17:48:01] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <5612add>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
525
+ [Genesis] [17:48:01] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <ee6a654>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
526
+ [Genesis] [17:48:03] [INFO] Applying offset to base link's pose with user provided value in morph.
527
+ [Genesis] [17:48:06] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <dbfbb17>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
528
+ [Genesis] [17:48:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
529
+ [Genesis] [17:48:06] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <aee0111>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
530
+ [Genesis] [17:48:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
531
+ [Genesis] [17:48:06] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
532
+ [Genesis] [17:48:06] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <192b020>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
533
+ [Genesis] [17:48:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
534
+ [Genesis] [17:48:07] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
535
+ [Genesis] [17:48:07] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <6e4c282>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
536
+ [Genesis] [17:48:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
537
+ [Genesis] [17:48:07] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
538
+ [Genesis] [17:48:07] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <8bf75e8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
539
+ [Genesis] [17:48:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
540
+ [Genesis] [17:48:07] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
541
+ [Genesis] [17:48:07] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <7f77888>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
542
+ [Genesis] [17:48:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
543
+ [Genesis] [17:48:07] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
544
+ [Genesis] [17:48:08] [INFO] Building scene <5ca9515>...
545
+ [Genesis] [17:48:10] [WARNING] Reference robot position exceeds joint limits.
546
+ [Genesis] [17:48:12] [INFO] Compiling simulation kernels...
547
+ [Genesis] [17:48:13] [INFO] Building visualizer...
548
+ Traceback (most recent call last):
549
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
550
+ sys.exit(main())
551
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
552
+ total_episodes, total_frames = replay_and_export(
553
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
554
+ n_envs = env.n_envs
555
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
556
+
557
+ [Genesis] [17:48:15] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
558
+ [Genesis] [17:48:15] [INFO] 💤 Exiting Genesis and caching compiled kernels...
559
+ Batch batch_028 done!
560
+
561
+ ==========================================
562
+ Worker 6 complete!
563
+ ==========================================
meta/_logs/replay_203706_7.err ADDED
@@ -0,0 +1,226 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 17:45:15,875 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_029
2
+ 2026-03-11 17:45:20,235 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 17:45:21,754 [INFO] gs_gym.envs.benchgen.loader: Collected 46 trajectories (success only) from 64 trials
4
+ 2026-03-11 17:45:21,754 [INFO] __main__: Loaded 46 trajectories for export
5
+ 2026-03-11 17:45:21,928 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 17:45:21,928 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 17:45:21,936 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 17:45:21,936 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 17:45:21,936 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 17:45:22,472 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 17:45:22,472 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 17:45:24,595 [INFO] genesis: Scene ~~~<<f7b4159>>~~~ created.
13
+ 2026-03-11 17:45:24,596 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<575d3a6>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 17:45:24,642 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 17:45:25,454 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<10cca6f>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 17:45:26,790 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 17:45:26,830 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 17:45:27,251 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 17:45:27,629 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 17:45:28,305 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 17:45:29,198 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 17:45:29,861 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 17:45:30,304 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 17:45:30,974 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 17:45:31,665 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 17:45:32,066 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 17:45:32,624 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 17:45:33,365 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 17:45:33,957 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 17:45:34,751 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 17:45:35,817 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 17:45:36,322 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<9d73448>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 17:45:36,342 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 17:45:36,356 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 17:45:36,750 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<3f8b500>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 17:45:36,823 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 17:45:36,841 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 17:45:36,852 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 17:45:45,788 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 17:45:46,460 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 17:45:47,055 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 17:45:47,627 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<e834f45>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 17:45:47,721 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 17:45:47,749 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 17:45:47,763 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 17:45:57,238 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 17:45:57,374 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 17:45:57,540 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 17:45:57,788 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 17:45:57,897 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 17:45:58,085 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<06ef78f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 17:45:58,184 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 17:45:58,204 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 17:45:58,213 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 17:46:05,494 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 17:46:05,846 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 17:46:06,332 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 17:46:06,865 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 17:46:06,971 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 17:46:07,320 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<77d2cf3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 17:46:07,436 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 17:46:07,521 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 17:46:07,553 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 17:46:26,360 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 17:46:26,641 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 17:46:26,945 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 17:46:27,035 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 17:46:27,277 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 17:46:27,568 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 17:46:27,920 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 17:46:28,004 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 17:46:28,272 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 17:46:28,601 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 17:46:28,943 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 17:46:29,380 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 17:46:29,622 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 17:46:29,927 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 17:46:30,232 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 17:46:30,472 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 17:46:30,545 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<e60f8c4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 17:46:30,632 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 17:46:30,647 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 17:46:30,653 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 17:46:38,886 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 17:46:38,989 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 17:46:39,062 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 17:46:39,549 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 17:46:39,637 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 17:46:39,752 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 17:46:39,822 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 17:46:40,063 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 17:46:40,143 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 17:46:40,203 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 17:46:40,295 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 17:46:40,359 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 17:46:40,636 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 17:46:40,710 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 17:46:40,790 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 17:46:41,210 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 17:46:41,279 [INFO] genesis: Building scene ~~~<<f7b4159>>~~~...
113
+ 2026-03-11 17:46:43,809 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 17:46:49,122 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 17:47:07,866 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 17:47:08,120 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 17:47:08,442 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 17:47:08,442 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 17:47:08,443 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
120
+ 2026-03-11 17:47:08,444 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
121
+ 2026-03-11 17:47:09,887 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_030
122
+ 2026-03-11 17:47:13,974 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
123
+ 2026-03-11 17:47:15,526 [INFO] gs_gym.envs.benchgen.loader: Collected 43 trajectories (success only) from 64 trials
124
+ 2026-03-11 17:47:15,526 [INFO] __main__: Loaded 43 trajectories for export
125
+ 2026-03-11 17:47:15,699 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
126
+ 2026-03-11 17:47:15,699 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
127
+ 2026-03-11 17:47:15,706 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
128
+ 2026-03-11 17:47:15,706 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
129
+ 2026-03-11 17:47:15,706 [INFO] genesis: ~<╰───────────────────────────��───────────────────╯>~
130
+ 2026-03-11 17:47:15,976 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
131
+ 2026-03-11 17:47:15,977 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
132
+ 2026-03-11 17:47:18,100 [INFO] genesis: Scene ~~~<<84116d7>>~~~ created.
133
+ 2026-03-11 17:47:18,100 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<523a930>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
134
+ 2026-03-11 17:47:18,167 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<c4d756b>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
135
+ 2026-03-11 17:47:19,551 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
136
+ 2026-03-11 17:47:21,342 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<0b31148>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
137
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
138
+ warnings.warn("pygltflib currently does not remove image data "
139
+ 2026-03-11 17:47:21,367 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ 2026-03-11 17:47:21,382 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<12b9a23>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
141
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
142
+ warnings.warn("pygltflib currently does not remove image data "
143
+ 2026-03-11 17:47:21,454 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
144
+ 2026-03-11 17:47:21,471 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
145
+ 2026-03-11 17:47:21,508 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<1d57bbd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
146
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
147
+ warnings.warn("pygltflib currently does not remove image data "
148
+ 2026-03-11 17:47:21,599 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
149
+ 2026-03-11 17:47:21,628 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
150
+ 2026-03-11 17:47:21,680 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<586b145>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
151
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
152
+ warnings.warn("pygltflib currently does not remove image data "
153
+ 2026-03-11 17:47:21,770 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
154
+ 2026-03-11 17:47:21,786 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
155
+ 2026-03-11 17:47:21,832 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<64b8b55>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
156
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
157
+ warnings.warn("pygltflib currently does not remove image data "
158
+ 2026-03-11 17:47:21,945 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
159
+ 2026-03-11 17:47:22,015 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
160
+ 2026-03-11 17:47:22,108 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<764eff0>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
161
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
162
+ warnings.warn("pygltflib currently does not remove image data "
163
+ 2026-03-11 17:47:22,190 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
164
+ 2026-03-11 17:47:22,204 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
165
+ 2026-03-11 17:47:22,269 [INFO] genesis: Building scene ~~~<<84116d7>>~~~...
166
+ 2026-03-11 17:47:23,884 [WARNING] genesis: Reference robot position exceeds joint limits.
167
+ 2026-03-11 17:47:25,120 [INFO] genesis: Compiling simulation kernels...
168
+ 2026-03-11 17:47:25,813 [INFO] genesis: Building visualizer...
169
+ 2026-03-11 17:47:26,012 [INFO] __main__: Environment created successfully
170
+ 2026-03-11 17:47:26,478 [INFO] __main__: Loaded pre-built task map with 1 tasks
171
+ 2026-03-11 17:47:26,478 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 17:47:26,479 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
173
+ 2026-03-11 17:47:26,479 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
174
+ 2026-03-11 17:47:27,669 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_031
175
+ 2026-03-11 17:47:32,174 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
176
+ 2026-03-11 17:47:33,872 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
177
+ 2026-03-11 17:47:33,872 [INFO] __main__: Loaded 45 trajectories for export
178
+ 2026-03-11 17:47:34,049 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
179
+ 2026-03-11 17:47:34,049 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
180
+ 2026-03-11 17:47:34,056 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
181
+ 2026-03-11 17:47:34,056 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
182
+ 2026-03-11 17:47:34,056 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
183
+ 2026-03-11 17:47:34,330 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
184
+ 2026-03-11 17:47:34,330 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
185
+ 2026-03-11 17:47:36,563 [INFO] genesis: Scene ~~~<<9ab5cd8>>~~~ created.
186
+ 2026-03-11 17:47:36,564 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<e05615a>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 17:47:36,635 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<3e03867>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ 2026-03-11 17:47:38,073 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
189
+ 2026-03-11 17:47:39,865 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<e03191b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 17:47:39,891 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 17:47:39,906 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<7b53578>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 17:47:39,978 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 17:47:39,995 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 17:47:40,031 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<af621bc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 17:47:40,122 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 17:47:40,150 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 17:47:40,202 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<d187492>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 17:47:40,291 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 17:47:40,306 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 17:47:40,351 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<18004ba>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 17:47:40,464 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
212
+ 2026-03-11 17:47:40,543 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 17:47:40,637 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<3f794b5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
214
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
215
+ warnings.warn("pygltflib currently does not remove image data "
216
+ 2026-03-11 17:47:40,720 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
217
+ 2026-03-11 17:47:40,734 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
218
+ 2026-03-11 17:47:40,798 [INFO] genesis: Building scene ~~~<<9ab5cd8>>~~~...
219
+ 2026-03-11 17:47:42,428 [WARNING] genesis: Reference robot position exceeds joint limits.
220
+ 2026-03-11 17:47:43,671 [INFO] genesis: Compiling simulation kernels...
221
+ 2026-03-11 17:47:44,381 [INFO] genesis: Building visualizer...
222
+ 2026-03-11 17:47:44,584 [INFO] __main__: Environment created successfully
223
+ 2026-03-11 17:47:45,071 [INFO] __main__: Loaded pre-built task map with 1 tasks
224
+ 2026-03-11 17:47:45,071 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
225
+ 2026-03-11 17:47:45,072 [ERROR] genesis: AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
226
+ 2026-03-11 17:47:45,072 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_203706_7.out ADDED
@@ -0,0 +1,517 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 7/8: batches [28 29 30]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 28: batch_029 (start_episode=1303, n_episodes=46)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [17:45:21] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [17:45:21] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [17:45:21] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [17:45:22] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [17:45:22] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [17:45:24] [INFO] Scene <f7b4159> created.
14
+ [Genesis] [17:45:24] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <575d3a6>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [17:45:24] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [17:45:25] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <10cca6f>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [17:45:26] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [17:45:26] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [17:45:27] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [17:45:27] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [17:45:28] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [17:45:29] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [17:45:29] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [17:45:30] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [17:45:30] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [17:45:31] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [17:45:32] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [17:45:32] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [17:45:33] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [17:45:33] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [17:45:34] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [17:45:35] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [17:45:36] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <9d73448>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [17:45:36] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [17:45:36] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [17:45:36] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <3f8b500>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [17:45:36] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [17:45:36] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [17:45:36] [INFO] Running convex decomposition.
40
+ [2026-03-11 17:45:36.852] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 17:45:36.854] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 17:45:36.854] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 17:45:36.854] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 17:45:36.854] [CoACD] [info] pca false
45
+ [2026-03-11 17:45:36.854] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 17:45:36.854] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 17:45:36.854] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 17:45:36.854] [CoACD] [info] merge true
49
+ [2026-03-11 17:45:36.854] [CoACD] [info] decimate true
50
+ [2026-03-11 17:45:36.854] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 17:45:36.854] [CoACD] [info] extrude false
52
+ [2026-03-11 17:45:36.854] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 17:45:36.854] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 17:45:36.854] [CoACD] [info] seed 0
55
+ [2026-03-11 17:45:36.854] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 17:45:36.856] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 17:45:36.856] [CoACD] [info] Manifold Check Time: 0.001797s
58
+ [2026-03-11 17:45:36.856] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 17:45:36.856] [CoACD] [info] - Preprocess
60
+ [2026-03-11 17:45:36.856] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 17:45:36.881] [CoACD] [info] Preprocess Time: 0.319116s
62
+ [2026-03-11 17:45:36.881] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 17:45:36.881] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 17:45:36.881] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 17:45:36.881] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 17:45:36.882] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 17:45:40.949] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 17:45:40.949] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 17:45:40.950] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 17:45:40.950] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 17:45:43.353] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 17:45:43.353] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 17:45:43.353] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 17:45:43.353] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 17:45:43.370] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 17:45:43.370] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 17:45:43.453] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 17:45:45.764] [CoACD] [info] Compute Time: 8.882289194967598s
79
+ [2026-03-11 17:45:45.764] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [17:45:45] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [17:45:46] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [17:45:47] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [17:45:47] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <e834f45>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [17:45:47] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [17:45:47] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [17:45:47] [INFO] Running convex decomposition.
87
+ [2026-03-11 17:45:47.764] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 17:45:47.764] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 17:45:47.764] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 17:45:47.764] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 17:45:47.764] [CoACD] [info] pca false
92
+ [2026-03-11 17:45:47.764] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 17:45:47.764] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 17:45:47.764] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 17:45:47.764] [CoACD] [info] merge true
96
+ [2026-03-11 17:45:47.764] [CoACD] [info] decimate true
97
+ [2026-03-11 17:45:47.764] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 17:45:47.764] [CoACD] [info] extrude false
99
+ [2026-03-11 17:45:47.764] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 17:45:47.764] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 17:45:47.764] [CoACD] [info] seed 0
102
+ [2026-03-11 17:45:47.765] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 17:45:47.771] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 17:45:47.771] [CoACD] [info] Manifold Check Time: 0.006168s
105
+ [2026-03-11 17:45:47.772] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 17:45:47.772] [CoACD] [info] - Preprocess
107
+ [2026-03-11 17:45:47.772] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 17:45:47.803] [CoACD] [info] Preprocess Time: 0.472857s
109
+ [2026-03-11 17:45:47.803] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 17:45:47.803] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 17:45:47.803] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 17:45:47.803] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 17:45:47.803] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 17:45:51.760] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 17:45:51.760] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 17:45:51.763] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 17:45:51.763] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 17:45:55.152] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 17:45:55.152] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 17:45:55.155] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 17:45:55.155] [CoACD] [info] Processing [75.0%]
122
+ [2026-03-11 17:45:55.155] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 17:45:55.155] [CoACD] [info] Processing [50.0%]
124
+ [2026-03-11 17:45:56.699] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 17:45:56.699] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 17:45:56.699] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 17:45:56.699] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 17:45:56.709] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 17:45:56.709] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 17:45:56.839] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 17:45:57.195] [CoACD] [info] Compute Time: 9.391331354156137s
132
+ [2026-03-11 17:45:57.195] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [17:45:57] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [17:45:57] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [17:45:57] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [17:45:57] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [17:45:57] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [17:45:58] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <06ef78f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [17:45:58] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [17:45:58] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [17:45:58] [INFO] Running convex decomposition.
142
+ [2026-03-11 17:45:58.213] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 17:45:58.213] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 17:45:58.213] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 17:45:58.213] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 17:45:58.213] [CoACD] [info] pca false
147
+ [2026-03-11 17:45:58.213] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 17:45:58.213] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 17:45:58.213] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 17:45:58.213] [CoACD] [info] merge true
151
+ [2026-03-11 17:45:58.213] [CoACD] [info] decimate true
152
+ [2026-03-11 17:45:58.213] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 17:45:58.213] [CoACD] [info] extrude false
154
+ [2026-03-11 17:45:58.213] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 17:45:58.213] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 17:45:58.213] [CoACD] [info] seed 0
157
+ [2026-03-11 17:45:58.213] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 17:45:58.215] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 17:45:58.216] [CoACD] [info] Manifold Check Time: 0.002262s
160
+ [2026-03-11 17:45:58.216] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 17:45:58.216] [CoACD] [info] - Preprocess
162
+ [2026-03-11 17:45:58.216] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 17:45:58.242] [CoACD] [info] Preprocess Time: 0.343972s
164
+ [2026-03-11 17:45:58.242] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 17:45:58.242] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 17:45:58.242] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 17:45:58.242] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 17:45:58.242] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 17:46:01.380] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 17:46:01.380] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 17:46:01.380] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 17:46:01.380] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 17:46:03.680] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 17:46:03.681] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 17:46:03.681] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 17:46:03.681] [CoACD] [info] Processing [25.0%]
177
+ [2026-03-11 17:46:03.681] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 17:46:03.681] [CoACD] [info] Processing [75.0%]
179
+ [2026-03-11 17:46:05.054] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 17:46:05.054] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 17:46:05.054] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 17:46:05.054] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 17:46:05.062] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 17:46:05.062] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 17:46:05.132] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 17:46:05.450] [CoACD] [info] Compute Time: 7.208279435988516s
187
+ [2026-03-11 17:46:05.450] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [17:46:05] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [17:46:05] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [17:46:06] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [17:46:07] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <77d2cf3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [17:46:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [17:46:07] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [17:46:07] [INFO] Running convex decomposition.
197
+ [2026-03-11 17:46:07.555] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 17:46:07.555] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 17:46:07.555] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 17:46:07.555] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 17:46:07.555] [CoACD] [info] pca false
202
+ [2026-03-11 17:46:07.555] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 17:46:07.555] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 17:46:07.555] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 17:46:07.555] [CoACD] [info] merge true
206
+ [2026-03-11 17:46:07.555] [CoACD] [info] decimate true
207
+ [2026-03-11 17:46:07.555] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 17:46:07.555] [CoACD] [info] extrude false
209
+ [2026-03-11 17:46:07.555] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 17:46:07.555] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 17:46:07.555] [CoACD] [info] seed 0
212
+ [2026-03-11 17:46:07.556] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 17:46:07.578] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 17:46:07.578] [CoACD] [info] Manifold Check Time: 0.022047s
215
+ [2026-03-11 17:46:07.583] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 17:46:07.584] [CoACD] [info] - Preprocess
217
+ [2026-03-11 17:46:07.584] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 17:46:07.643] [CoACD] [info] Preprocess Time: 0.852615s
219
+ [2026-03-11 17:46:07.644] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 17:46:07.644] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 17:46:07.644] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 17:46:07.644] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 17:46:07.644] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 17:46:13.618] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 17:46:13.618] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 17:46:13.618] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 17:46:13.618] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 17:46:16.877] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 17:46:16.877] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 17:46:16.878] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 17:46:16.878] [CoACD] [info] Processing [25.0%]
232
+ [2026-03-11 17:46:16.878] [CoACD] [info] Processing [50.0%]
233
+ [2026-03-11 17:46:16.878] [CoACD] [info] Processing [75.0%]
234
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 17:46:18.964] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [75.0%]
238
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [12.5%]
239
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [25.0%]
240
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [62.5%]
241
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [87.5%]
242
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [50.0%]
243
+ [2026-03-11 17:46:18.964] [CoACD] [info] Processing [37.5%]
244
+ [2026-03-11 17:46:20.507] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 17:46:20.508] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 17:46:20.508] [CoACD] [info] Processing [14.3%]
247
+ [2026-03-11 17:46:20.508] [CoACD] [info] Processing [85.7%]
248
+ [2026-03-11 17:46:20.508] [CoACD] [info] Processing [28.6%]
249
+ [2026-03-11 17:46:20.508] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 17:46:20.508] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 17:46:20.508] [CoACD] [info] Processing [42.9%]
252
+ [2026-03-11 17:46:20.508] [CoACD] [info] Processing [71.4%]
253
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 17:46:21.586] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [25.0%]
257
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [62.5%]
258
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [12.5%]
259
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [37.5%]
260
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [75.0%]
261
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [87.5%]
262
+ [2026-03-11 17:46:21.586] [CoACD] [info] Processing [50.0%]
263
+ [2026-03-11 17:46:22.520] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 17:46:22.521] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 17:46:22.521] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 17:46:22.521] [CoACD] [info] Processing [87.5%]
267
+ [2026-03-11 17:46:22.521] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 17:46:22.521] [CoACD] [info] Processing [25.0%]
269
+ [2026-03-11 17:46:22.521] [CoACD] [info] Processing [50.0%]
270
+ [2026-03-11 17:46:22.529] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 17:46:22.532] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 17:46:22.532] [CoACD] [info] Processing [12.5%]
273
+ [2026-03-11 17:46:22.986] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 17:46:22.986] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 17:46:22.986] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 17:46:22.986] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 17:46:22.991] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 17:46:22.991] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 17:46:26.292] [CoACD] [warning] Max concavity 0.06839620751463028 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 17:46:26.292] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 17:46:26.312] [CoACD] [info] Compute Time: 18.66857119416818s
282
+ [2026-03-11 17:46:26.312] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [17:46:26] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [17:46:26] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [17:46:26] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [17:46:27] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [17:46:28] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [17:46:29] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [17:46:29] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [17:46:29] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [17:46:30] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [17:46:30] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [17:46:30] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <e60f8c4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [17:46:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [17:46:30] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [17:46:30] [INFO] Running convex decomposition.
303
+ [2026-03-11 17:46:30.653] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 17:46:30.654] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 17:46:30.654] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 17:46:30.654] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 17:46:30.654] [CoACD] [info] pca false
308
+ [2026-03-11 17:46:30.654] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 17:46:30.654] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 17:46:30.654] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 17:46:30.654] [CoACD] [info] merge true
312
+ [2026-03-11 17:46:30.654] [CoACD] [info] decimate true
313
+ [2026-03-11 17:46:30.654] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 17:46:30.654] [CoACD] [info] extrude false
315
+ [2026-03-11 17:46:30.654] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 17:46:30.654] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 17:46:30.654] [CoACD] [info] seed 0
318
+ [2026-03-11 17:46:30.654] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 17:46:30.657] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 17:46:30.657] [CoACD] [info] Manifold Check Time: 0.002993s
321
+ [2026-03-11 17:46:30.657] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 17:46:30.657] [CoACD] [info] - Preprocess
323
+ [2026-03-11 17:46:30.657] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 17:46:30.675] [CoACD] [info] Preprocess Time: 0.2793s
325
+ [2026-03-11 17:46:30.678] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 17:46:30.678] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 17:46:30.678] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 17:46:30.678] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 17:46:30.678] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 17:46:33.048] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 17:46:33.048] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 17:46:33.048] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 17:46:33.048] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 17:46:34.398] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 17:46:34.398] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 17:46:34.398] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 17:46:34.398] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 17:46:35.411] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 17:46:35.411] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 17:46:35.411] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 17:46:35.411] [CoACD] [info] Processing [25.0%]
342
+ [2026-03-11 17:46:35.411] [CoACD] [info] Processing [50.0%]
343
+ [2026-03-11 17:46:35.411] [CoACD] [info] Processing [75.0%]
344
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 17:46:36.206] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [62.5%]
348
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [37.5%]
349
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [87.5%]
350
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [12.5%]
351
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [25.0%]
352
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [75.0%]
353
+ [2026-03-11 17:46:36.206] [CoACD] [info] Processing [50.0%]
354
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 17:46:36.895] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [87.5%]
358
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [75.0%]
359
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [62.5%]
360
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [37.5%]
361
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [12.5%]
362
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [50.0%]
363
+ [2026-03-11 17:46:36.895] [CoACD] [info] Processing [25.0%]
364
+ [2026-03-11 17:46:37.410] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 17:46:37.410] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 17:46:37.413] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 17:46:37.413] [CoACD] [info] Processing [68.2%]
368
+ [2026-03-11 17:46:37.413] [CoACD] [info] Processing [95.5%]
369
+ [2026-03-11 17:46:37.413] [CoACD] [info] Processing [27.3%]
370
+ [2026-03-11 17:46:37.413] [CoACD] [info] Processing [81.8%]
371
+ [2026-03-11 17:46:37.417] [CoACD] [info] Processing [54.5%]
372
+ [2026-03-11 17:46:37.426] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 17:46:37.428] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 17:46:37.856] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [87.5%]
378
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [62.5%]
379
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [37.5%]
380
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [25.0%]
381
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [12.5%]
382
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [75.0%]
383
+ [2026-03-11 17:46:37.856] [CoACD] [info] Processing [50.0%]
384
+ [2026-03-11 17:46:37.865] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 17:46:37.865] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 17:46:38.571] [CoACD] [warning] Max concavity 0.05733962928286405 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 17:46:38.571] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 17:46:38.838] [CoACD] [info] Compute Time: 8.1597143933177s
389
+ [2026-03-11 17:46:38.838] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [17:46:38] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [17:46:38] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [17:46:39] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [17:46:39] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [17:46:39] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [17:46:39] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [17:46:39] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [17:46:40] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [17:46:41] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [17:46:41] [INFO] Building scene <f7b4159>...
407
+ [Genesis] [17:46:43] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [17:46:49] [INFO] Compiling simulation kernels...
409
+ [Genesis] [17:47:07] [INFO] Building visualizer...
410
+ Traceback (most recent call last):
411
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
412
+ sys.exit(main())
413
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
414
+ total_episodes, total_frames = replay_and_export(
415
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
416
+ n_envs = env.n_envs
417
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
418
+
419
+ [Genesis] [17:47:08] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
420
+ [Genesis] [17:47:08] [INFO] 💤 Exiting Genesis and caching compiled kernels...
421
+ Batch batch_029 done!
422
+
423
+ ──────────────────────────────────────────
424
+ Batch 29: batch_030 (start_episode=1349, n_episodes=43)
425
+ ──────────────────────────────────────────
426
+ [Genesis] [17:47:15] [INFO] ╭───────────────────────────────────────────────╮
427
+ [Genesis] [17:47:15] [INFO] │┈┉���┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
428
+ [Genesis] [17:47:15] [INFO] ╰───────────────────────────────────────────────╯
429
+ [Genesis] [17:47:15] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
430
+ [Genesis] [17:47:15] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
431
+ [Genesis] [17:47:18] [INFO] Scene <84116d7> created.
432
+ [Genesis] [17:47:18] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <523a930>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
433
+ [Genesis] [17:47:18] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <c4d756b>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [17:47:19] [INFO] Applying offset to base link's pose with user provided value in morph.
435
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <0b31148>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
436
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
437
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <12b9a23>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [17:47:21] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <1d57bbd>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [17:47:21] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <586b145>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
444
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
445
+ [Genesis] [17:47:21] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
446
+ [Genesis] [17:47:21] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <64b8b55>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
447
+ [Genesis] [17:47:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
448
+ [Genesis] [17:47:22] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
449
+ [Genesis] [17:47:22] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <764eff0>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
450
+ [Genesis] [17:47:22] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
451
+ [Genesis] [17:47:22] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
452
+ [Genesis] [17:47:22] [INFO] Building scene <84116d7>...
453
+ [Genesis] [17:47:23] [WARNING] Reference robot position exceeds joint limits.
454
+ [Genesis] [17:47:25] [INFO] Compiling simulation kernels...
455
+ [Genesis] [17:47:25] [INFO] Building visualizer...
456
+ Traceback (most recent call last):
457
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
458
+ sys.exit(main())
459
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
460
+ total_episodes, total_frames = replay_and_export(
461
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
462
+ n_envs = env.n_envs
463
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
464
+
465
+ [Genesis] [17:47:26] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
466
+ [Genesis] [17:47:26] [INFO] 💤 Exiting Genesis and caching compiled kernels...
467
+ Batch batch_030 done!
468
+
469
+ ──────────────────────────────────────────
470
+ Batch 30: batch_031 (start_episode=1392, n_episodes=45)
471
+ ──────────────────────────────────────────
472
+ [Genesis] [17:47:34] [INFO] ╭───────────────────────────────────────────────╮
473
+ [Genesis] [17:47:34] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
474
+ [Genesis] [17:47:34] [INFO] ╰───────────────────────────────────────────────╯
475
+ [Genesis] [17:47:34] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
476
+ [Genesis] [17:47:34] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
477
+ [Genesis] [17:47:36] [INFO] Scene <9ab5cd8> created.
478
+ [Genesis] [17:47:36] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <e05615a>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
479
+ [Genesis] [17:47:36] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <3e03867>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
480
+ [Genesis] [17:47:38] [INFO] Applying offset to base link's pose with user provided value in morph.
481
+ [Genesis] [17:47:39] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <e03191b>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
482
+ [Genesis] [17:47:39] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
483
+ [Genesis] [17:47:39] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <7b53578>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
484
+ [Genesis] [17:47:39] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
485
+ [Genesis] [17:47:39] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
486
+ [Genesis] [17:47:40] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <af621bc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
487
+ [Genesis] [17:47:40] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
488
+ [Genesis] [17:47:40] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
489
+ [Genesis] [17:47:40] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <d187492>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
490
+ [Genesis] [17:47:40] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
491
+ [Genesis] [17:47:40] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
492
+ [Genesis] [17:47:40] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <18004ba>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
493
+ [Genesis] [17:47:40] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
494
+ [Genesis] [17:47:40] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
495
+ [Genesis] [17:47:40] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <3f794b5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
496
+ [Genesis] [17:47:40] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
497
+ [Genesis] [17:47:40] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
498
+ [Genesis] [17:47:40] [INFO] Building scene <9ab5cd8>...
499
+ [Genesis] [17:47:42] [WARNING] Reference robot position exceeds joint limits.
500
+ [Genesis] [17:47:43] [INFO] Compiling simulation kernels...
501
+ [Genesis] [17:47:44] [INFO] Building visualizer...
502
+ Traceback (most recent call last):
503
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 301, in <module>
504
+ sys.exit(main())
505
+ File "/mnt/home/yian/gs-gym/scripts/replay_benchgen.py", line 270, in main
506
+ total_episodes, total_frames = replay_and_export(
507
+ File "/mnt/home/yian/gs-gym/gs_gym/envs/benchgen/export.py", line 511, in replay_and_export
508
+ n_envs = env.n_envs
509
+ AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
510
+
511
+ [Genesis] [17:47:45] [ERROR] AttributeError: 'BenchgenReplayEnv' object has no attribute 'n_envs'
512
+ [Genesis] [17:47:45] [INFO] 💤 Exiting Genesis and caching compiled kernels...
513
+ Batch batch_031 done!
514
+
515
+ ==========================================
516
+ Worker 7 complete!
517
+ ==========================================
meta/_logs/replay_204436_0.err ADDED
@@ -0,0 +1,476 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:46,204 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_000
2
+ 2026-03-11 19:36:03,115 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:36:06,296 [INFO] gs_gym.envs.benchgen.loader: Collected 47 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:36:06,296 [INFO] __main__: Loaded 47 trajectories for export
5
+ 2026-03-11 19:36:06,480 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:36:06,480 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:36:06,487 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:36:06,487 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:36:06,487 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:36:07,107 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:36:07,107 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:36:09,846 [INFO] genesis: Scene ~~~<<c7f1538>>~~~ created.
13
+ 2026-03-11 19:36:09,847 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<ad6a4f3>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:36:09,912 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:36:10,723 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<6a167af>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:36:12,119 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:36:12,158 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:12,574 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:12,946 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:13,623 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:14,496 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:15,154 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:15,584 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:16,268 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:16,956 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:17,354 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:17,889 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:18,645 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:19,216 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:20,008 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:21,075 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:21,561 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<4e7ae59>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:21,582 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:21,595 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:21,983 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<8991abc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:22,056 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:22,072 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:22,084 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:31,290 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:32,005 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:32,633 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:33,265 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<345619a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:33,394 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:33,427 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:33,448 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:43,208 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:43,342 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:43,504 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:43,732 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:43,828 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:44,004 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<4497825>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:44,111 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:44,130 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:44,140 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:36:51,261 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:36:51,604 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:36:52,065 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:36:52,586 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:36:52,686 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:36:53,036 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<859f2d5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:36:53,152 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:36:53,225 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:36:53,257 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:37:12,023 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:37:12,318 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:37:12,569 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:37:12,859 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:37:13,101 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:37:13,181 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:37:13,241 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:37:13,476 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:37:13,732 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:37:14,068 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:14,386 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:14,805 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:15,107 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:15,343 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:15,634 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:15,929 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:15,993 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<aedd172>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:16,088 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:16,102 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:16,108 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:24,028 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:24,118 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:24,185 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:24,594 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:24,674 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:24,781 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:24,858 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:25,265 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:25,354 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:25,407 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:25,468 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:25,731 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:25,798 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:26,022 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:26,133 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:26,218 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:26,273 [INFO] genesis: Building scene ~~~<<c7f1538>>~~~...
113
+ 2026-03-11 19:37:29,271 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:34,443 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:37:53,150 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:37:53,415 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:37:54,564 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:37:54,564 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:38:07,431 [INFO] gs_gym.envs.benchgen.export: Saved episode 0: 202 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:21,156 [INFO] gs_gym.envs.benchgen.export: Saved episode 1: 277 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:31,814 [INFO] gs_gym.envs.benchgen.export: Saved episode 2: 219 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:43,011 [INFO] gs_gym.envs.benchgen.export: Saved episode 3: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
123
+ 2026-03-11 19:38:55,119 [INFO] gs_gym.envs.benchgen.export: Saved episode 4: 228 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
124
+ 2026-03-11 19:39:07,774 [INFO] gs_gym.envs.benchgen.export: Saved episode 5: 244 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
125
+ 2026-03-11 19:39:20,880 [INFO] gs_gym.envs.benchgen.export: Saved episode 6: 226 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
126
+ 2026-03-11 19:39:31,948 [INFO] gs_gym.envs.benchgen.export: Saved episode 7: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
127
+ 2026-03-11 19:39:46,471 [INFO] gs_gym.envs.benchgen.export: Saved episode 8: 155 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
128
+ 2026-03-11 19:40:03,168 [INFO] gs_gym.envs.benchgen.export: Saved episode 9: 226 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
129
+ 2026-03-11 19:40:15,151 [INFO] gs_gym.envs.benchgen.export: Saved episode 10: 214 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
130
+ 2026-03-11 19:40:27,660 [INFO] gs_gym.envs.benchgen.export: Saved episode 11: 254 frames (17 static removed), task='Pick up the banana and place it in the basket', success=True
131
+ 2026-03-11 19:40:36,096 [INFO] gs_gym.envs.benchgen.export: Saved episode 12: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
132
+ 2026-03-11 19:40:43,696 [INFO] gs_gym.envs.benchgen.export: Saved episode 13: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
133
+ 2026-03-11 19:40:58,428 [INFO] gs_gym.envs.benchgen.export: Saved episode 14: 262 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
134
+ 2026-03-11 19:41:07,840 [INFO] gs_gym.envs.benchgen.export: Saved episode 15: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
135
+ 2026-03-11 19:41:18,178 [INFO] gs_gym.envs.benchgen.export: Saved episode 16: 201 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
136
+ 2026-03-11 19:41:29,030 [INFO] gs_gym.envs.benchgen.export: Saved episode 17: 222 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
137
+ 2026-03-11 19:41:40,286 [INFO] gs_gym.envs.benchgen.export: Saved episode 18: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
138
+ 2026-03-11 19:41:51,248 [INFO] gs_gym.envs.benchgen.export: Saved episode 19: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
139
+ 2026-03-11 19:42:03,623 [INFO] gs_gym.envs.benchgen.export: Saved episode 20: 237 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
140
+ 2026-03-11 19:42:15,258 [INFO] gs_gym.envs.benchgen.export: Saved episode 21: 233 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
141
+ 2026-03-11 19:42:26,300 [INFO] gs_gym.envs.benchgen.export: Saved episode 22: 218 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
142
+ 2026-03-11 19:42:34,080 [INFO] gs_gym.envs.benchgen.export: Saved episode 23: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
143
+ 2026-03-11 19:42:42,677 [INFO] gs_gym.envs.benchgen.export: Saved episode 24: 170 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
144
+ 2026-03-11 19:42:55,175 [INFO] gs_gym.envs.benchgen.export: Saved episode 25: 243 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
145
+ 2026-03-11 19:43:06,973 [INFO] gs_gym.envs.benchgen.export: Saved episode 26: 250 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
146
+ 2026-03-11 19:43:19,232 [INFO] gs_gym.envs.benchgen.export: Saved episode 27: 243 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
147
+ 2026-03-11 19:43:31,868 [INFO] gs_gym.envs.benchgen.export: Saved episode 28: 236 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
148
+ 2026-03-11 19:43:40,820 [INFO] gs_gym.envs.benchgen.export: Saved episode 29: 157 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
149
+ 2026-03-11 19:43:54,382 [INFO] gs_gym.envs.benchgen.export: Saved episode 30: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
150
+ 2026-03-11 19:44:06,730 [INFO] gs_gym.envs.benchgen.export: Saved episode 31: 163 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
151
+ 2026-03-11 19:44:15,281 [INFO] gs_gym.envs.benchgen.export: Saved episode 32: 158 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
152
+ 2026-03-11 19:44:23,024 [INFO] gs_gym.envs.benchgen.export: Saved episode 33: 153 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
153
+ 2026-03-11 19:44:34,553 [INFO] gs_gym.envs.benchgen.export: Saved episode 34: 232 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
154
+ 2026-03-11 19:44:36,820 [INFO] gs_gym.envs.benchgen.export: Skipped episode 35: upside-down gripper detected, task='Pick up the banana and place it in the basket'
155
+ 2026-03-11 19:44:45,831 [INFO] gs_gym.envs.benchgen.export: Saved episode 35: 174 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
156
+ 2026-03-11 19:44:58,374 [INFO] gs_gym.envs.benchgen.export: Saved episode 36: 237 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
157
+ 2026-03-11 19:45:11,405 [INFO] gs_gym.envs.benchgen.export: Saved episode 37: 224 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
158
+ 2026-03-11 19:45:20,100 [INFO] gs_gym.envs.benchgen.export: Saved episode 38: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:30,585 [INFO] gs_gym.envs.benchgen.export: Saved episode 39: 226 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
160
+ 2026-03-11 19:45:43,242 [INFO] gs_gym.envs.benchgen.export: Saved episode 40: 256 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
161
+ 2026-03-11 19:45:54,425 [INFO] gs_gym.envs.benchgen.export: Saved episode 41: 222 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
162
+ 2026-03-11 19:46:02,918 [INFO] gs_gym.envs.benchgen.export: Skipped episode 42: upside-down gripper detected, task='Pick up the banana and place it in the basket'
163
+ 2026-03-11 19:46:12,556 [INFO] gs_gym.envs.benchgen.export: Saved episode 42: 158 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
164
+ 2026-03-11 19:46:22,746 [INFO] gs_gym.envs.benchgen.export: Saved episode 43: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
165
+ 2026-03-11 19:46:34,767 [INFO] gs_gym.envs.benchgen.export: Saved episode 44: 233 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
166
+ 2026-03-11 19:46:34,768 [INFO] __main__: Export complete: 45 episodes, 9324 frames
167
+ 2026-03-11 19:46:34,768 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
168
+ 2026-03-11 19:46:34,772 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
169
+ 2026-03-11 19:46:36,389 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_001
170
+ 2026-03-11 19:46:41,417 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
171
+ 2026-03-11 19:46:43,172 [INFO] gs_gym.envs.benchgen.loader: Collected 52 trajectories (success only) from 64 trials
172
+ 2026-03-11 19:46:43,172 [INFO] __main__: Loaded 52 trajectories for export
173
+ 2026-03-11 19:46:43,340 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
174
+ 2026-03-11 19:46:43,340 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
175
+ 2026-03-11 19:46:43,348 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
176
+ 2026-03-11 19:46:43,348 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
177
+ 2026-03-11 19:46:43,348 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
178
+ 2026-03-11 19:46:43,617 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
179
+ 2026-03-11 19:46:43,618 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
180
+ 2026-03-11 19:46:45,830 [INFO] genesis: Scene ~~~<<aad4771>>~~~ created.
181
+ 2026-03-11 19:46:45,830 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<5cdd194>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
182
+ 2026-03-11 19:46:45,904 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<b94e567>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
183
+ 2026-03-11 19:46:47,273 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
184
+ 2026-03-11 19:46:49,035 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<73edc2f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
185
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
186
+ warnings.warn("pygltflib currently does not remove image data "
187
+ 2026-03-11 19:46:49,060 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
188
+ 2026-03-11 19:46:49,075 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<85a3873>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
189
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
190
+ warnings.warn("pygltflib currently does not remove image data "
191
+ 2026-03-11 19:46:49,146 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
192
+ 2026-03-11 19:46:49,162 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
193
+ 2026-03-11 19:46:49,198 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<bfbc7e0>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
194
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
195
+ warnings.warn("pygltflib currently does not remove image data "
196
+ 2026-03-11 19:46:49,289 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
197
+ 2026-03-11 19:46:49,316 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
198
+ 2026-03-11 19:46:49,368 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<108d5fa>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
199
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
200
+ warnings.warn("pygltflib currently does not remove image data "
201
+ 2026-03-11 19:46:49,456 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
202
+ 2026-03-11 19:46:49,470 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
203
+ 2026-03-11 19:46:49,515 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<093282e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
204
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
205
+ warnings.warn("pygltflib currently does not remove image data "
206
+ 2026-03-11 19:46:49,621 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
207
+ 2026-03-11 19:46:49,689 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
208
+ 2026-03-11 19:46:49,779 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<9d25a94>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
209
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
210
+ warnings.warn("pygltflib currently does not remove image data "
211
+ 2026-03-11 19:46:49,859 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
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+ 2026-03-11 19:46:49,873 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
213
+ 2026-03-11 19:46:49,937 [INFO] genesis: Building scene ~~~<<aad4771>>~~~...
214
+ 2026-03-11 19:46:51,557 [WARNING] genesis: Reference robot position exceeds joint limits.
215
+ 2026-03-11 19:46:52,755 [INFO] genesis: Compiling simulation kernels...
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+ 2026-03-11 19:46:53,447 [INFO] genesis: Building visualizer...
217
+ 2026-03-11 19:46:53,645 [INFO] __main__: Environment created successfully
218
+ 2026-03-11 19:46:54,207 [INFO] __main__: Loaded pre-built task map with 1 tasks
219
+ 2026-03-11 19:46:54,207 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
220
+ 2026-03-11 19:47:05,948 [INFO] gs_gym.envs.benchgen.export: Saved episode 47: 215 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:14,358 [INFO] gs_gym.envs.benchgen.export: Saved episode 48: 159 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:28,814 [INFO] gs_gym.envs.benchgen.export: Saved episode 49: 261 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:40,284 [INFO] gs_gym.envs.benchgen.export: Saved episode 50: 246 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:52,304 [INFO] gs_gym.envs.benchgen.export: Saved episode 51: 228 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:02,146 [INFO] gs_gym.envs.benchgen.export: Saved episode 52: 171 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:13,984 [INFO] gs_gym.envs.benchgen.export: Saved episode 53: 229 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:22,419 [INFO] gs_gym.envs.benchgen.export: Saved episode 54: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:33,841 [INFO] gs_gym.envs.benchgen.export: Saved episode 55: 238 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:52,311 [INFO] gs_gym.envs.benchgen.export: Saved episode 56: 410 frames (12 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:05,373 [INFO] gs_gym.envs.benchgen.export: Saved episode 57: 256 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:14,474 [INFO] gs_gym.envs.benchgen.export: Saved episode 58: 182 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:17,435 [INFO] gs_gym.envs.benchgen.export: Skipped episode 59: upside-down gripper detected, task='Pick up the banana and place it in the basket'
233
+ 2026-03-11 19:49:25,176 [INFO] gs_gym.envs.benchgen.export: Saved episode 59: 155 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:32,661 [INFO] gs_gym.envs.benchgen.export: Saved episode 60: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
235
+ 2026-03-11 19:49:46,436 [INFO] gs_gym.envs.benchgen.export: Saved episode 61: 267 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
236
+ 2026-03-11 19:49:57,799 [INFO] gs_gym.envs.benchgen.export: Saved episode 62: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
237
+ 2026-03-11 19:50:08,924 [INFO] gs_gym.envs.benchgen.export: Saved episode 63: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
238
+ 2026-03-11 19:50:17,285 [INFO] gs_gym.envs.benchgen.export: Saved episode 64: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:25,870 [INFO] gs_gym.envs.benchgen.export: Saved episode 65: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:39,699 [INFO] gs_gym.envs.benchgen.export: Saved episode 66: 238 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
241
+ 2026-03-11 19:50:48,191 [INFO] gs_gym.envs.benchgen.export: Saved episode 67: 168 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
242
+ 2026-03-11 19:50:52,718 [INFO] gs_gym.envs.benchgen.export: Skipped episode 68: upside-down gripper detected, task='Pick up the banana and place it in the basket'
243
+ 2026-03-11 19:51:00,639 [INFO] gs_gym.envs.benchgen.export: Saved episode 68: 159 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
244
+ 2026-03-11 19:51:13,065 [INFO] gs_gym.envs.benchgen.export: Saved episode 69: 227 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
245
+ 2026-03-11 19:51:15,487 [INFO] gs_gym.envs.benchgen.export: Skipped episode 70: upside-down gripper detected, task='Pick up the banana and place it in the basket'
246
+ 2026-03-11 19:51:24,510 [INFO] gs_gym.envs.benchgen.export: Saved episode 70: 179 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
247
+ 2026-03-11 19:51:32,881 [INFO] gs_gym.envs.benchgen.export: Saved episode 71: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
248
+ 2026-03-11 19:51:44,956 [INFO] gs_gym.envs.benchgen.export: Saved episode 72: 239 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
249
+ 2026-03-11 19:51:53,671 [INFO] gs_gym.envs.benchgen.export: Saved episode 73: 181 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
250
+ 2026-03-11 19:52:04,671 [INFO] gs_gym.envs.benchgen.export: Saved episode 74: 224 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
251
+ 2026-03-11 19:52:16,413 [INFO] gs_gym.envs.benchgen.export: Saved episode 75: 234 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
252
+ 2026-03-11 19:52:27,045 [INFO] gs_gym.envs.benchgen.export: Saved episode 76: 221 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
253
+ 2026-03-11 19:52:34,497 [INFO] gs_gym.envs.benchgen.export: Saved episode 77: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
254
+ 2026-03-11 19:52:42,726 [INFO] gs_gym.envs.benchgen.export: Saved episode 78: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
255
+ 2026-03-11 19:52:53,295 [INFO] gs_gym.envs.benchgen.export: Saved episode 79: 208 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
256
+ 2026-03-11 19:53:04,827 [INFO] gs_gym.envs.benchgen.export: Saved episode 80: 239 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
257
+ 2026-03-11 19:53:17,339 [INFO] gs_gym.envs.benchgen.export: Saved episode 81: 229 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
258
+ 2026-03-11 19:53:29,603 [INFO] gs_gym.envs.benchgen.export: Saved episode 82: 228 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
259
+ 2026-03-11 19:53:37,676 [INFO] gs_gym.envs.benchgen.export: Saved episode 83: 162 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
260
+ 2026-03-11 19:53:45,708 [INFO] gs_gym.envs.benchgen.export: Saved episode 84: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
261
+ 2026-03-11 19:53:57,710 [INFO] gs_gym.envs.benchgen.export: Saved episode 85: 224 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
262
+ 2026-03-11 19:54:11,653 [INFO] gs_gym.envs.benchgen.export: Saved episode 86: 248 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
263
+ 2026-03-11 19:54:20,246 [INFO] gs_gym.envs.benchgen.export: Saved episode 87: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
264
+ 2026-03-11 19:54:35,263 [INFO] gs_gym.envs.benchgen.export: Saved episode 88: 270 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
265
+ 2026-03-11 19:54:46,498 [INFO] gs_gym.envs.benchgen.export: Saved episode 89: 202 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
266
+ 2026-03-11 19:54:55,159 [INFO] gs_gym.envs.benchgen.export: Saved episode 90: 171 frames, task='Pick up the banana and place it in the basket', success=True
267
+ 2026-03-11 19:55:06,971 [INFO] gs_gym.envs.benchgen.export: Saved episode 91: 239 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
268
+ 2026-03-11 19:55:19,253 [INFO] gs_gym.envs.benchgen.export: Saved episode 92: 244 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
269
+ 2026-03-11 19:55:34,554 [INFO] gs_gym.envs.benchgen.export: Saved episode 93: 273 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
270
+ 2026-03-11 19:55:47,316 [INFO] gs_gym.envs.benchgen.export: Saved episode 94: 236 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
271
+ 2026-03-11 19:55:57,344 [INFO] gs_gym.envs.benchgen.export: Saved episode 95: 220 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
272
+ 2026-03-11 19:55:57,345 [INFO] __main__: Export complete: 49 episodes, 10291 frames
273
+ 2026-03-11 19:55:57,345 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
274
+ 2026-03-11 19:55:57,349 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
275
+ 2026-03-11 19:55:58,639 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_002
276
+ 2026-03-11 19:56:03,244 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
277
+ 2026-03-11 19:56:04,985 [INFO] gs_gym.envs.benchgen.loader: Collected 49 trajectories (success only) from 64 trials
278
+ 2026-03-11 19:56:04,986 [INFO] __main__: Loaded 49 trajectories for export
279
+ 2026-03-11 19:56:05,160 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
280
+ 2026-03-11 19:56:05,160 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
281
+ 2026-03-11 19:56:05,167 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
282
+ 2026-03-11 19:56:05,167 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
283
+ 2026-03-11 19:56:05,167 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
284
+ 2026-03-11 19:56:05,459 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
285
+ 2026-03-11 19:56:05,459 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
286
+ 2026-03-11 19:56:07,657 [INFO] genesis: Scene ~~~<<161515a>>~~~ created.
287
+ 2026-03-11 19:56:07,657 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<0d3d2cb>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
288
+ 2026-03-11 19:56:07,726 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<2669500>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
289
+ 2026-03-11 19:56:09,108 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
290
+ 2026-03-11 19:56:10,918 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<012c641>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
291
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
292
+ warnings.warn("pygltflib currently does not remove image data "
293
+ 2026-03-11 19:56:10,942 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
294
+ 2026-03-11 19:56:10,957 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<e6cc703>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
295
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
296
+ warnings.warn("pygltflib currently does not remove image data "
297
+ 2026-03-11 19:56:11,030 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
298
+ 2026-03-11 19:56:11,049 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
299
+ 2026-03-11 19:56:11,085 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<6e609d3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
300
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
301
+ warnings.warn("pygltflib currently does not remove image data "
302
+ 2026-03-11 19:56:11,179 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
303
+ 2026-03-11 19:56:11,209 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
304
+ 2026-03-11 19:56:11,260 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<3235cfc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
305
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
306
+ warnings.warn("pygltflib currently does not remove image data "
307
+ 2026-03-11 19:56:11,356 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
308
+ 2026-03-11 19:56:11,372 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
309
+ 2026-03-11 19:56:11,417 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<9d33ae1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
310
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
311
+ warnings.warn("pygltflib currently does not remove image data "
312
+ 2026-03-11 19:56:11,533 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
313
+ 2026-03-11 19:56:11,605 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
314
+ 2026-03-11 19:56:11,697 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<e2dcaf9>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
315
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
316
+ warnings.warn("pygltflib currently does not remove image data "
317
+ 2026-03-11 19:56:11,783 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
318
+ 2026-03-11 19:56:11,799 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
319
+ 2026-03-11 19:56:11,864 [INFO] genesis: Building scene ~~~<<161515a>>~~~...
320
+ 2026-03-11 19:56:13,490 [WARNING] genesis: Reference robot position exceeds joint limits.
321
+ 2026-03-11 19:56:14,725 [INFO] genesis: Compiling simulation kernels...
322
+ 2026-03-11 19:56:15,409 [INFO] genesis: Building visualizer...
323
+ 2026-03-11 19:56:15,606 [INFO] __main__: Environment created successfully
324
+ 2026-03-11 19:56:16,159 [INFO] __main__: Loaded pre-built task map with 1 tasks
325
+ 2026-03-11 19:56:16,159 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
326
+ 2026-03-11 19:56:28,755 [INFO] gs_gym.envs.benchgen.export: Saved episode 99: 230 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
327
+ 2026-03-11 19:56:37,341 [INFO] gs_gym.envs.benchgen.export: Saved episode 100: 172 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
328
+ 2026-03-11 19:56:49,856 [INFO] gs_gym.envs.benchgen.export: Saved episode 101: 240 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
329
+ 2026-03-11 19:56:58,378 [INFO] gs_gym.envs.benchgen.export: Saved episode 102: 163 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
330
+ 2026-03-11 19:57:07,294 [INFO] gs_gym.envs.benchgen.export: Skipped episode 103: upside-down gripper detected, task='Pick up the banana and place it in the basket'
331
+ 2026-03-11 19:57:20,025 [INFO] gs_gym.envs.benchgen.export: Saved episode 103: 256 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
332
+ 2026-03-11 19:57:27,734 [INFO] gs_gym.envs.benchgen.export: Saved episode 104: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
333
+ 2026-03-11 19:57:35,776 [INFO] gs_gym.envs.benchgen.export: Saved episode 105: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:57:47,759 [INFO] gs_gym.envs.benchgen.export: Saved episode 106: 236 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
335
+ 2026-03-11 19:58:01,890 [INFO] gs_gym.envs.benchgen.export: Saved episode 107: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:58:16,879 [INFO] gs_gym.envs.benchgen.export: Saved episode 108: 222 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
337
+ 2026-03-11 19:58:30,101 [INFO] gs_gym.envs.benchgen.export: Saved episode 109: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
338
+ 2026-03-11 19:58:34,006 [INFO] gs_gym.envs.benchgen.export: Skipped episode 110: upside-down gripper detected, task='Pick up the banana and place it in the basket'
339
+ 2026-03-11 19:58:43,251 [INFO] gs_gym.envs.benchgen.export: Saved episode 110: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
340
+ 2026-03-11 19:58:54,385 [INFO] gs_gym.envs.benchgen.export: Saved episode 111: 199 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
341
+ 2026-03-11 19:59:02,678 [INFO] gs_gym.envs.benchgen.export: Saved episode 112: 170 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
342
+ 2026-03-11 19:59:10,557 [INFO] gs_gym.envs.benchgen.export: Saved episode 113: 155 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
343
+ 2026-03-11 19:59:19,369 [INFO] gs_gym.envs.benchgen.export: Saved episode 114: 174 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
344
+ 2026-03-11 19:59:32,280 [INFO] gs_gym.envs.benchgen.export: Saved episode 115: 260 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
345
+ 2026-03-11 19:59:44,194 [INFO] gs_gym.envs.benchgen.export: Saved episode 116: 231 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
346
+ 2026-03-11 19:59:56,611 [INFO] gs_gym.envs.benchgen.export: Saved episode 117: 252 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
347
+ 2026-03-11 20:00:05,619 [INFO] gs_gym.envs.benchgen.export: Saved episode 118: 171 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
348
+ 2026-03-11 20:00:17,289 [INFO] gs_gym.envs.benchgen.export: Saved episode 119: 212 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
349
+ 2026-03-11 20:00:26,452 [INFO] gs_gym.envs.benchgen.export: Saved episode 120: 177 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 20:00:34,764 [INFO] gs_gym.envs.benchgen.export: Saved episode 121: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
351
+ 2026-03-11 20:00:37,753 [INFO] gs_gym.envs.benchgen.export: Skipped episode 122: upside-down gripper detected, task='Pick up the banana and place it in the basket'
352
+ 2026-03-11 20:00:48,952 [INFO] gs_gym.envs.benchgen.export: Saved episode 122: 214 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
353
+ 2026-03-11 20:00:58,104 [INFO] gs_gym.envs.benchgen.export: Saved episode 123: 174 frames, task='Pick up the banana and place it in the basket', success=True
354
+ 2026-03-11 20:01:07,124 [INFO] gs_gym.envs.benchgen.export: Saved episode 124: 174 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:01:15,462 [INFO] gs_gym.envs.benchgen.export: Saved episode 125: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:01:24,210 [INFO] gs_gym.envs.benchgen.export: Skipped episode 126: upside-down gripper detected, task='Pick up the banana and place it in the basket'
357
+ 2026-03-11 20:01:36,670 [INFO] gs_gym.envs.benchgen.export: Saved episode 126: 249 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
358
+ 2026-03-11 20:01:48,980 [INFO] gs_gym.envs.benchgen.export: Saved episode 127: 250 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
359
+ 2026-03-11 20:01:56,894 [INFO] gs_gym.envs.benchgen.export: Saved episode 128: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
360
+ 2026-03-11 20:02:07,546 [INFO] gs_gym.envs.benchgen.export: Saved episode 129: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
361
+ 2026-03-11 20:02:22,372 [INFO] gs_gym.envs.benchgen.export: Saved episode 130: 175 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
362
+ 2026-03-11 20:02:28,274 [INFO] gs_gym.envs.benchgen.export: Skipped episode 131: upside-down gripper detected, task='Pick up the banana and place it in the basket'
363
+ 2026-03-11 20:02:37,153 [INFO] gs_gym.envs.benchgen.export: Saved episode 131: 157 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
364
+ 2026-03-11 20:02:51,914 [INFO] gs_gym.envs.benchgen.export: Saved episode 132: 258 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
365
+ 2026-03-11 20:02:54,298 [INFO] gs_gym.envs.benchgen.export: Skipped episode 133: upside-down gripper detected, task='Pick up the banana and place it in the basket'
366
+ 2026-03-11 20:03:02,462 [INFO] gs_gym.envs.benchgen.export: Saved episode 133: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
367
+ 2026-03-11 20:03:04,781 [INFO] gs_gym.envs.benchgen.export: Skipped episode 134: upside-down gripper detected, task='Pick up the banana and place it in the basket'
368
+ 2026-03-11 20:03:13,556 [INFO] gs_gym.envs.benchgen.export: Saved episode 134: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
369
+ 2026-03-11 20:03:22,174 [INFO] gs_gym.envs.benchgen.export: Saved episode 135: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
370
+ 2026-03-11 20:03:30,359 [INFO] gs_gym.envs.benchgen.export: Saved episode 136: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
371
+ 2026-03-11 20:03:42,089 [INFO] gs_gym.envs.benchgen.export: Saved episode 137: 223 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
372
+ 2026-03-11 20:03:44,244 [INFO] gs_gym.envs.benchgen.export: Skipped episode 138: upside-down gripper detected, task='Pick up the banana and place it in the basket'
373
+ 2026-03-11 20:03:51,878 [INFO] gs_gym.envs.benchgen.export: Saved episode 138: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
374
+ 2026-03-11 20:04:00,742 [INFO] gs_gym.envs.benchgen.export: Saved episode 139: 170 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
375
+ 2026-03-11 20:04:00,743 [INFO] __main__: Export complete: 41 episodes, 8009 frames
376
+ 2026-03-11 20:04:00,743 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
377
+ 2026-03-11 20:04:00,745 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
378
+ 2026-03-11 20:04:02,249 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_003
379
+ 2026-03-11 20:04:08,564 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
380
+ 2026-03-11 20:04:10,969 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
381
+ 2026-03-11 20:04:10,969 [INFO] __main__: Loaded 45 trajectories for export
382
+ 2026-03-11 20:04:11,194 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
383
+ 2026-03-11 20:04:11,194 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
384
+ 2026-03-11 20:04:11,204 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
385
+ 2026-03-11 20:04:11,204 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
386
+ 2026-03-11 20:04:11,204 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
387
+ 2026-03-11 20:04:11,547 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
388
+ 2026-03-11 20:04:11,547 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
389
+ 2026-03-11 20:04:14,026 [INFO] genesis: Scene ~~~<<a4ff7f9>>~~~ created.
390
+ 2026-03-11 20:04:14,026 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<9fb5439>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
391
+ 2026-03-11 20:04:14,123 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<3a02e01>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
392
+ 2026-03-11 20:04:15,575 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
393
+ 2026-03-11 20:04:17,354 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<63bfff7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
394
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
395
+ warnings.warn("pygltflib currently does not remove image data "
396
+ 2026-03-11 20:04:17,380 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
397
+ 2026-03-11 20:04:17,395 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<90cfde4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
398
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
399
+ warnings.warn("pygltflib currently does not remove image data "
400
+ 2026-03-11 20:04:17,467 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
401
+ 2026-03-11 20:04:17,484 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
402
+ 2026-03-11 20:04:17,519 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<bdcb14d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
403
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
404
+ warnings.warn("pygltflib currently does not remove image data "
405
+ 2026-03-11 20:04:17,611 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
406
+ 2026-03-11 20:04:17,639 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
407
+ 2026-03-11 20:04:17,691 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<c310653>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
408
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
409
+ warnings.warn("pygltflib currently does not remove image data "
410
+ 2026-03-11 20:04:17,780 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
411
+ 2026-03-11 20:04:17,795 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
412
+ 2026-03-11 20:04:17,839 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<cfbedab>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
413
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
414
+ warnings.warn("pygltflib currently does not remove image data "
415
+ 2026-03-11 20:04:17,946 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
416
+ 2026-03-11 20:04:18,014 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
417
+ 2026-03-11 20:04:18,104 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<01fbe6c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
418
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
419
+ warnings.warn("pygltflib currently does not remove image data "
420
+ 2026-03-11 20:04:18,184 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
421
+ 2026-03-11 20:04:18,199 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
422
+ 2026-03-11 20:04:18,262 [INFO] genesis: Building scene ~~~<<a4ff7f9>>~~~...
423
+ 2026-03-11 20:04:19,891 [WARNING] genesis: Reference robot position exceeds joint limits.
424
+ 2026-03-11 20:04:21,079 [INFO] genesis: Compiling simulation kernels...
425
+ 2026-03-11 20:04:21,773 [INFO] genesis: Building visualizer...
426
+ 2026-03-11 20:04:21,964 [INFO] __main__: Environment created successfully
427
+ 2026-03-11 20:04:22,557 [INFO] __main__: Loaded pre-built task map with 1 tasks
428
+ 2026-03-11 20:04:22,557 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
429
+ 2026-03-11 20:04:31,049 [INFO] gs_gym.envs.benchgen.export: Saved episode 148: 159 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
430
+ 2026-03-11 20:04:34,703 [INFO] gs_gym.envs.benchgen.export: Skipped episode 149: upside-down gripper detected, task='Pick up the banana and place it in the basket'
431
+ 2026-03-11 20:04:42,976 [INFO] gs_gym.envs.benchgen.export: Saved episode 149: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
432
+ 2026-03-11 20:04:55,152 [INFO] gs_gym.envs.benchgen.export: Saved episode 150: 250 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
433
+ 2026-03-11 20:05:25,127 [INFO] gs_gym.envs.benchgen.export: Saved episode 151: 616 frames (27 static removed), task='Pick up the banana and place it in the basket', success=True
434
+ 2026-03-11 20:05:28,223 [INFO] gs_gym.envs.benchgen.export: Skipped episode 152: upside-down gripper detected, task='Pick up the banana and place it in the basket'
435
+ 2026-03-11 20:05:39,027 [INFO] gs_gym.envs.benchgen.export: Saved episode 152: 225 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
436
+ 2026-03-11 20:05:46,862 [INFO] gs_gym.envs.benchgen.export: Saved episode 153: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
437
+ 2026-03-11 20:05:58,970 [INFO] gs_gym.envs.benchgen.export: Saved episode 154: 256 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
438
+ 2026-03-11 20:06:06,874 [INFO] gs_gym.envs.benchgen.export: Saved episode 155: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
439
+ 2026-03-11 20:06:27,787 [INFO] gs_gym.envs.benchgen.export: Saved episode 156: 290 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
440
+ 2026-03-11 20:06:45,584 [INFO] gs_gym.envs.benchgen.export: Saved episode 157: 262 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
441
+ 2026-03-11 20:06:54,479 [INFO] gs_gym.envs.benchgen.export: Saved episode 158: 159 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
442
+ 2026-03-11 20:07:07,073 [INFO] gs_gym.envs.benchgen.export: Saved episode 159: 220 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
443
+ 2026-03-11 20:07:35,756 [INFO] gs_gym.envs.benchgen.export: Saved episode 160: 562 frames (21 static removed), task='Pick up the banana and place it in the basket', success=True
444
+ 2026-03-11 20:07:48,817 [INFO] gs_gym.envs.benchgen.export: Saved episode 161: 255 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
445
+ 2026-03-11 20:07:57,587 [INFO] gs_gym.envs.benchgen.export: Saved episode 162: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
446
+ 2026-03-11 20:08:06,316 [INFO] gs_gym.envs.benchgen.export: Saved episode 163: 183 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
447
+ 2026-03-11 20:08:16,767 [INFO] gs_gym.envs.benchgen.export: Saved episode 164: 195 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
448
+ 2026-03-11 20:08:30,581 [INFO] gs_gym.envs.benchgen.export: Saved episode 165: 240 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
449
+ 2026-03-11 20:08:41,784 [INFO] gs_gym.envs.benchgen.export: Saved episode 166: 216 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
450
+ 2026-03-11 20:08:52,826 [INFO] gs_gym.envs.benchgen.export: Saved episode 167: 216 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
451
+ 2026-03-11 20:09:00,073 [INFO] gs_gym.envs.benchgen.export: Saved episode 168: 155 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
452
+ 2026-03-11 20:09:03,324 [INFO] gs_gym.envs.benchgen.export: Skipped episode 169: upside-down gripper detected, task='Pick up the banana and place it in the basket'
453
+ 2026-03-11 20:09:15,027 [INFO] gs_gym.envs.benchgen.export: Saved episode 169: 224 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
454
+ 2026-03-11 20:09:23,649 [INFO] gs_gym.envs.benchgen.export: Saved episode 170: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
455
+ 2026-03-11 20:09:34,639 [INFO] gs_gym.envs.benchgen.export: Saved episode 171: 206 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
456
+ 2026-03-11 20:09:45,335 [INFO] gs_gym.envs.benchgen.export: Saved episode 172: 217 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
457
+ 2026-03-11 20:09:56,472 [INFO] gs_gym.envs.benchgen.export: Saved episode 173: 210 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
458
+ 2026-03-11 20:10:04,779 [INFO] gs_gym.envs.benchgen.export: Saved episode 174: 160 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
459
+ 2026-03-11 20:10:13,376 [INFO] gs_gym.envs.benchgen.export: Saved episode 175: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
460
+ 2026-03-11 20:10:22,273 [INFO] gs_gym.envs.benchgen.export: Saved episode 176: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
461
+ 2026-03-11 20:10:36,016 [INFO] gs_gym.envs.benchgen.export: Saved episode 177: 211 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
462
+ 2026-03-11 20:10:50,347 [INFO] gs_gym.envs.benchgen.export: Saved episode 178: 159 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
463
+ 2026-03-11 20:11:06,347 [INFO] gs_gym.envs.benchgen.export: Saved episode 179: 236 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
464
+ 2026-03-11 20:11:19,730 [INFO] gs_gym.envs.benchgen.export: Saved episode 180: 235 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
465
+ 2026-03-11 20:11:28,067 [INFO] gs_gym.envs.benchgen.export: Saved episode 181: 169 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
466
+ 2026-03-11 20:11:36,567 [INFO] gs_gym.envs.benchgen.export: Saved episode 182: 163 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
467
+ 2026-03-11 20:11:46,083 [INFO] gs_gym.envs.benchgen.export: Skipped episode 183: upside-down gripper detected, task='Pick up the banana and place it in the basket'
468
+ 2026-03-11 20:11:55,218 [INFO] gs_gym.envs.benchgen.export: Saved episode 183: 163 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
469
+ 2026-03-11 20:12:03,956 [INFO] gs_gym.envs.benchgen.export: Saved episode 184: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
470
+ 2026-03-11 20:12:19,324 [INFO] gs_gym.envs.benchgen.export: Saved episode 185: 304 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
471
+ 2026-03-11 20:12:28,308 [INFO] gs_gym.envs.benchgen.export: Saved episode 186: 152 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
472
+ 2026-03-11 20:12:41,888 [INFO] gs_gym.envs.benchgen.export: Saved episode 187: 232 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
473
+ 2026-03-11 20:12:54,109 [INFO] gs_gym.envs.benchgen.export: Saved episode 188: 237 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
474
+ 2026-03-11 20:12:54,111 [INFO] __main__: Export complete: 41 episodes, 9075 frames
475
+ 2026-03-11 20:12:54,111 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
476
+ 2026-03-11 20:12:54,114 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_0.out ADDED
@@ -0,0 +1,527 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 0/8: batches [0 1 2 3]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 0: batch_000 (start_episode=0, n_episodes=47)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:36:06] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:36:06] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:36:06] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:36:07] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:36:07] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:36:09] [INFO] Scene <c7f1538> created.
14
+ [Genesis] [19:36:09] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <ad6a4f3>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:36:09] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:36:10] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <6a167af>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:36:12] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:13] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:14] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:16] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:16] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:17] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:17] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:18] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:19] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:20] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:21] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:21] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <4e7ae59>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:21] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:21] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <8991abc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:22] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:22] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:22] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:22.084] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:22.086] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:22.086] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:22.086] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:22.086] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:22.086] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:22.086] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:22.086] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:22.086] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:22.086] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:22.086] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:22.086] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:22.086] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:22.086] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:22.086] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:22.086] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:22.088] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:22.088] [CoACD] [info] Manifold Check Time: 0.001904s
58
+ [2026-03-11 19:36:22.088] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:22.088] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:22.088] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:22.112] [CoACD] [info] Preprocess Time: 0.297642s
62
+ [2026-03-11 19:36:22.113] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:22.113] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:22.113] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:22.113] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:22.113] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:26.194] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:26.194] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:26.197] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:26.197] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:28.753] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:28.753] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:28.757] [CoACD] [info] Processing [50.0%]
74
+ [2026-03-11 19:36:28.757] [CoACD] [info] Processing [0.0%]
75
+ [2026-03-11 19:36:28.773] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:28.773] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:28.859] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:31.267] [CoACD] [info] Compute Time: 9.154758382006548s
79
+ [2026-03-11 19:36:31.267] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:31] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:32] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:32] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:33] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <345619a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:33] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:33] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:33.450] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:33.450] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:33.450] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:33.450] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:33.450] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:33.450] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:33.450] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:33.450] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:33.450] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:33.450] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:33.450] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:33.450] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:33.450] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:33.450] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:33.450] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:33.451] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:33.458] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:33.458] [CoACD] [info] Manifold Check Time: 0.007086s
105
+ [2026-03-11 19:36:33.459] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:33.460] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:33.460] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:33.501] [CoACD] [info] Preprocess Time: 0.53175s
109
+ [2026-03-11 19:36:33.501] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:33.501] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:33.501] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:33.501] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:33.501] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:37.791] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:37.792] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:37.792] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:37.792] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:41.143] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:41.143] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:41.143] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:41.143] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:41.143] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 19:36:41.143] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 19:36:42.670] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:42.670] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:42.670] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:42.670] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:42.679] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:42.679] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:42.810] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:43.169] [CoACD] [info] Compute Time: 9.667781398980878s
132
+ [2026-03-11 19:36:43.169] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:44] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <4497825>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:44] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:44] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:44] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:44.140] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:44.140] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:44.140] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:44.140] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:44.140] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:44.140] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:44.140] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:44.140] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:44.140] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:44.140] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:44.140] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:44.140] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:44.140] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:44.140] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:44.140] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:44.141] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:44.143] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:44.143] [CoACD] [info] Manifold Check Time: 0.002265s
160
+ [2026-03-11 19:36:44.143] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:44.143] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:44.143] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:44.161] [CoACD] [info] Preprocess Time: 0.281225s
164
+ [2026-03-11 19:36:44.162] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:44.162] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:44.162] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:44.162] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:44.162] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:47.243] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:47.243] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:47.246] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 19:36:47.246] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 19:36:49.461] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:49.461] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:49.465] [CoACD] [info] Processing [25.0%]
176
+ [2026-03-11 19:36:49.465] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 19:36:49.465] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 19:36:49.466] [CoACD] [info] Processing [0.0%]
179
+ [2026-03-11 19:36:50.823] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:50.823] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:50.823] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 19:36:50.823] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 19:36:50.831] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:50.831] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:50.900] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:36:51.229] [CoACD] [info] Compute Time: 7.067167336994316s
187
+ [2026-03-11 19:36:51.229] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:36:51] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:36:51] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:36:53] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <859f2d5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:36:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:36:53] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:36:53] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:36:53.258] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:36:53.258] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:36:53.258] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:36:53.258] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:36:53.258] [CoACD] [info] pca false
202
+ [2026-03-11 19:36:53.258] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:36:53.258] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:36:53.258] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:36:53.258] [CoACD] [info] merge true
206
+ [2026-03-11 19:36:53.258] [CoACD] [info] decimate true
207
+ [2026-03-11 19:36:53.258] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:36:53.258] [CoACD] [info] extrude false
209
+ [2026-03-11 19:36:53.258] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:36:53.258] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:36:53.258] [CoACD] [info] seed 0
212
+ [2026-03-11 19:36:53.260] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:36:53.279] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:36:53.279] [CoACD] [info] Manifold Check Time: 0.01907s
215
+ [2026-03-11 19:36:53.283] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:36:53.283] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:36:53.283] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:36:53.337] [CoACD] [info] Preprocess Time: 0.83322s
219
+ [2026-03-11 19:36:53.338] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:36:53.338] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:36:53.338] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:36:53.338] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:36:53.338] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:36:59.182] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:36:59.182] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:36:59.185] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 19:36:59.185] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 19:37:02.453] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:37:02.453] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:37:02.454] [CoACD] [info] Processing [25.0%]
231
+ [2026-03-11 19:37:02.454] [CoACD] [info] Processing [50.0%]
232
+ [2026-03-11 19:37:02.454] [CoACD] [info] Processing [75.0%]
233
+ [2026-03-11 19:37:02.454] [CoACD] [info] Processing [0.0%]
234
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:37:04.545] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [62.5%]
238
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [12.5%]
239
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [25.0%]
240
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [75.0%]
241
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [50.0%]
242
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [87.5%]
243
+ [2026-03-11 19:37:04.545] [CoACD] [info] Processing [37.5%]
244
+ [2026-03-11 19:37:06.024] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:37:06.025] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:37:06.025] [CoACD] [info] Processing [14.3%]
247
+ [2026-03-11 19:37:06.025] [CoACD] [info] Processing [71.4%]
248
+ [2026-03-11 19:37:06.025] [CoACD] [info] Processing [42.9%]
249
+ [2026-03-11 19:37:06.025] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 19:37:06.025] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 19:37:06.025] [CoACD] [info] Processing [85.7%]
252
+ [2026-03-11 19:37:06.025] [CoACD] [info] Processing [28.6%]
253
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:37:07.161] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [37.5%]
257
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [75.0%]
258
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [12.5%]
259
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [25.0%]
260
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [50.0%]
261
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [62.5%]
262
+ [2026-03-11 19:37:07.161] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 19:37:08.106] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:37:08.107] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:37:08.107] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 19:37:08.107] [CoACD] [info] Processing [75.0%]
267
+ [2026-03-11 19:37:08.107] [CoACD] [info] Processing [25.0%]
268
+ [2026-03-11 19:37:08.107] [CoACD] [info] Processing [50.0%]
269
+ [2026-03-11 19:37:08.107] [CoACD] [info] Processing [87.5%]
270
+ [2026-03-11 19:37:08.116] [CoACD] [info] Processing [12.5%]
271
+ [2026-03-11 19:37:08.118] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 19:37:08.118] [CoACD] [info] Processing [37.5%]
273
+ [2026-03-11 19:37:08.574] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:37:08.574] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:37:08.574] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 19:37:08.574] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 19:37:08.580] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:37:08.580] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:37:11.956] [CoACD] [warning] Max concavity 0.06907327211987938 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:37:11.956] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:37:11.976] [CoACD] [info] Compute Time: 18.63834887399571s
282
+ [2026-03-11 19:37:11.976] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:37:12] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:37:12] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:37:12] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:37:12] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:15] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <aedd172>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:16] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:16] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:16.108] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:16.108] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:16.108] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:16.108] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:16.108] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:16.108] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:16.108] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:16.108] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:16.108] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:16.108] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:16.108] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:16.108] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:16.108] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:16.108] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:16.108] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:16.109] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:16.112] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:16.112] [CoACD] [info] Manifold Check Time: 0.002961s
321
+ [2026-03-11 19:37:16.112] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:16.112] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:16.112] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:16.131] [CoACD] [info] Preprocess Time: 0.301354s
325
+ [2026-03-11 19:37:16.132] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:16.132] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:16.132] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:16.132] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:16.132] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:18.404] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:18.405] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:18.405] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:18.405] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:19.699] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:19.699] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:19.699] [CoACD] [info] Processing [50.0%]
337
+ [2026-03-11 19:37:19.699] [CoACD] [info] Processing [0.0%]
338
+ [2026-03-11 19:37:20.667] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:20.667] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:20.667] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:20.667] [CoACD] [info] Processing [75.0%]
342
+ [2026-03-11 19:37:20.667] [CoACD] [info] Processing [50.0%]
343
+ [2026-03-11 19:37:20.667] [CoACD] [info] Processing [25.0%]
344
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:21.434] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [50.0%]
348
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [37.5%]
349
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [12.5%]
350
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [87.5%]
351
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [62.5%]
352
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [75.0%]
353
+ [2026-03-11 19:37:21.434] [CoACD] [info] Processing [25.0%]
354
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:22.060] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [50.0%]
358
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [12.5%]
359
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [62.5%]
360
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [37.5%]
361
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [75.0%]
362
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [87.5%]
363
+ [2026-03-11 19:37:22.060] [CoACD] [info] Processing [25.0%]
364
+ [2026-03-11 19:37:22.651] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:22.651] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:22.651] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 19:37:22.651] [CoACD] [info] Processing [27.3%]
368
+ [2026-03-11 19:37:22.651] [CoACD] [info] Processing [81.8%]
369
+ [2026-03-11 19:37:22.651] [CoACD] [info] Processing [54.5%]
370
+ [2026-03-11 19:37:22.651] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 19:37:22.651] [CoACD] [info] Processing [68.2%]
372
+ [2026-03-11 19:37:22.668] [CoACD] [info] Processing [40.9%]
373
+ [2026-03-11 19:37:22.669] [CoACD] [info] Processing [13.6%]
374
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:23.029] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [50.0%]
377
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [25.0%]
378
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [12.5%]
379
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [0.0%]
380
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [37.5%]
381
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [87.5%]
382
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [75.0%]
383
+ [2026-03-11 19:37:23.029] [CoACD] [info] Processing [62.5%]
384
+ [2026-03-11 19:37:23.038] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:23.038] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:23.725] [CoACD] [warning] Max concavity 0.0602862860106369 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 19:37:23.725] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 19:37:23.988] [CoACD] [info] Compute Time: 7.856298053986393s
389
+ [2026-03-11 19:37:23.988] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [19:37:26] [INFO] Building scene <c7f1538>...
407
+ [Genesis] [19:37:29] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [19:37:34] [INFO] Compiling simulation kernels...
409
+ [Genesis] [19:37:53] [INFO] Building visualizer...
410
+ next_episode=45 next_index=9324
411
+ [Genesis] [19:46:34] [INFO] 💤 Exiting Genesis and caching compiled kernels...
412
+ Batch batch_000 done!
413
+
414
+ ──────────────────────────────────────────
415
+ Batch 1: batch_001 (start_episode=47, n_episodes=52)
416
+ ──────────────────────────────────────────
417
+ [Genesis] [19:46:43] [INFO] ╭───────────────────────────────────────────────╮
418
+ [Genesis] [19:46:43] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
419
+ [Genesis] [19:46:43] [INFO] ╰───────────────────────────────────────────────╯
420
+ [Genesis] [19:46:43] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
421
+ [Genesis] [19:46:43] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
422
+ [Genesis] [19:46:45] [INFO] Scene <aad4771> created.
423
+ [Genesis] [19:46:45] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <5cdd194>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:46:45] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <b94e567>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
425
+ [Genesis] [19:46:47] [INFO] Applying offset to base link's pose with user provided value in morph.
426
+ [Genesis] [19:46:49] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <73edc2f>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
427
+ [Genesis] [19:46:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
428
+ [Genesis] [19:46:49] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <85a3873>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
429
+ [Genesis] [19:46:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
430
+ [Genesis] [19:46:49] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
431
+ [Genesis] [19:46:49] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <bfbc7e0>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
432
+ [Genesis] [19:46:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
433
+ [Genesis] [19:46:49] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
434
+ [Genesis] [19:46:49] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <108d5fa>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
435
+ [Genesis] [19:46:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
436
+ [Genesis] [19:46:49] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
437
+ [Genesis] [19:46:49] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <093282e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [19:46:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [19:46:49] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [19:46:49] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <9d25a94>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [19:46:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [19:46:49] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [19:46:49] [INFO] Building scene <aad4771>...
444
+ [Genesis] [19:46:51] [WARNING] Reference robot position exceeds joint limits.
445
+ [Genesis] [19:46:52] [INFO] Compiling simulation kernels...
446
+ [Genesis] [19:46:53] [INFO] Building visualizer...
447
+ next_episode=96 next_index=10291
448
+ [Genesis] [19:55:57] [INFO] 💤 Exiting Genesis and caching compiled kernels...
449
+ Batch batch_001 done!
450
+
451
+ ──────────────────────────────────────────
452
+ Batch 2: batch_002 (start_episode=99, n_episodes=49)
453
+ ──────────────────────────────────────────
454
+ [Genesis] [19:56:05] [INFO] ╭───────────────────────────────────────────────╮
455
+ [Genesis] [19:56:05] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
456
+ [Genesis] [19:56:05] [INFO] ╰───────────────────────────────────────────────╯
457
+ [Genesis] [19:56:05] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
458
+ [Genesis] [19:56:05] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
459
+ [Genesis] [19:56:07] [INFO] Scene <161515a> created.
460
+ [Genesis] [19:56:07] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <0d3d2cb>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:56:07] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <2669500>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
462
+ [Genesis] [19:56:09] [INFO] Applying offset to base link's pose with user provided value in morph.
463
+ [Genesis] [19:56:10] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <012c641>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
464
+ [Genesis] [19:56:10] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
465
+ [Genesis] [19:56:10] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <e6cc703>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
466
+ [Genesis] [19:56:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
467
+ [Genesis] [19:56:11] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
468
+ [Genesis] [19:56:11] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <6e609d3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
469
+ [Genesis] [19:56:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
470
+ [Genesis] [19:56:11] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
471
+ [Genesis] [19:56:11] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <3235cfc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
472
+ [Genesis] [19:56:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
473
+ [Genesis] [19:56:11] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
474
+ [Genesis] [19:56:11] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <9d33ae1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
475
+ [Genesis] [19:56:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
476
+ [Genesis] [19:56:11] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
477
+ [Genesis] [19:56:11] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <e2dcaf9>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
478
+ [Genesis] [19:56:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
479
+ [Genesis] [19:56:11] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
480
+ [Genesis] [19:56:11] [INFO] Building scene <161515a>...
481
+ [Genesis] [19:56:13] [WARNING] Reference robot position exceeds joint limits.
482
+ [Genesis] [19:56:14] [INFO] Compiling simulation kernels...
483
+ [Genesis] [19:56:15] [INFO] Building visualizer...
484
+ next_episode=140 next_index=8009
485
+ [Genesis] [20:04:00] [INFO] 💤 Exiting Genesis and caching compiled kernels...
486
+ Batch batch_002 done!
487
+
488
+ ──────────────────────────────────────────
489
+ Batch 3: batch_003 (start_episode=148, n_episodes=45)
490
+ ──────────────────────────────────────────
491
+ [Genesis] [20:04:11] [INFO] ╭─────────────────────────────────���─────────────╮
492
+ [Genesis] [20:04:11] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
493
+ [Genesis] [20:04:11] [INFO] ╰───────────────────────────────────────────────╯
494
+ [Genesis] [20:04:11] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
495
+ [Genesis] [20:04:11] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
496
+ [Genesis] [20:04:14] [INFO] Scene <a4ff7f9> created.
497
+ [Genesis] [20:04:14] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <9fb5439>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
498
+ [Genesis] [20:04:14] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <3a02e01>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
499
+ [Genesis] [20:04:15] [INFO] Applying offset to base link's pose with user provided value in morph.
500
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <63bfff7>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
501
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
502
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <90cfde4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
503
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
504
+ [Genesis] [20:04:17] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
505
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <bdcb14d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
506
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
507
+ [Genesis] [20:04:17] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
508
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <c310653>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
509
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
510
+ [Genesis] [20:04:17] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
511
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <cfbedab>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
512
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
513
+ [Genesis] [20:04:18] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
514
+ [Genesis] [20:04:18] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <01fbe6c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
515
+ [Genesis] [20:04:18] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
516
+ [Genesis] [20:04:18] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
517
+ [Genesis] [20:04:18] [INFO] Building scene <a4ff7f9>...
518
+ [Genesis] [20:04:19] [WARNING] Reference robot position exceeds joint limits.
519
+ [Genesis] [20:04:21] [INFO] Compiling simulation kernels...
520
+ [Genesis] [20:04:21] [INFO] Building visualizer...
521
+ next_episode=189 next_index=9075
522
+ [Genesis] [20:12:54] [INFO] 💤 Exiting Genesis and caching compiled kernels...
523
+ Batch batch_003 done!
524
+
525
+ ==========================================
526
+ Worker 0 complete!
527
+ ==========================================
meta/_logs/replay_204436_1.err ADDED
@@ -0,0 +1,472 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:52,959 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_004
2
+ 2026-03-11 19:36:12,430 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:36:15,842 [INFO] gs_gym.envs.benchgen.loader: Collected 51 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:36:15,843 [INFO] __main__: Loaded 51 trajectories for export
5
+ 2026-03-11 19:36:16,089 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:36:16,090 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:36:16,100 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:36:16,100 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:36:16,100 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:36:16,788 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:36:16,788 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:36:20,081 [INFO] genesis: Scene ~~~<<12b894c>>~~~ created.
13
+ 2026-03-11 19:36:20,082 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<443461d>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:36:20,158 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:36:20,964 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<192ba18>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:36:22,522 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:36:22,568 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:22,970 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:23,337 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:23,999 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:24,876 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:25,528 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:25,968 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:26,657 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:27,346 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:27,736 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:28,270 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:29,013 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:29,587 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:30,381 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:31,444 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:31,959 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<c91b546>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:31,983 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:31,997 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:32,389 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<e753cb3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:32,467 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:32,484 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:32,495 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:41,485 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:42,160 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:42,759 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:43,338 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<6fa2b9b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:43,438 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:43,466 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:43,479 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:52,632 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:52,744 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:52,888 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:53,098 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:53,184 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:53,334 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<8a12424>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:53,426 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:53,441 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:53,449 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:37:00,299 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:37:00,631 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:37:01,082 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:37:01,579 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:37:01,676 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:37:02,021 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<8f16a7a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:37:02,135 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:37:02,213 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:37:02,243 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:37:20,736 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:37:21,021 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:37:21,079 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:37:21,383 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:37:21,635 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:37:21,930 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:37:22,010 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:37:22,300 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:37:22,717 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:37:23,035 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:23,369 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:23,625 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:23,865 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:24,098 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:24,160 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:24,452 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:24,688 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<128ffdb>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:24,775 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:24,789 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:24,795 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:32,564 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:32,655 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:32,994 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:33,072 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:33,173 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:33,246 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:33,313 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:33,579 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:33,633 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:33,689 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:33,916 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:33,991 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:34,053 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:34,141 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:34,549 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:34,641 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:34,716 [INFO] genesis: Building scene ~~~<<12b894c>>~~~...
113
+ 2026-03-11 19:37:37,250 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:42,472 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:38:00,803 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:38:01,074 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:38:02,513 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:38:02,513 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:38:18,782 [INFO] gs_gym.envs.benchgen.export: Saved episode 193: 287 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:30,701 [INFO] gs_gym.envs.benchgen.export: Saved episode 194: 244 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:41,356 [INFO] gs_gym.envs.benchgen.export: Saved episode 195: 213 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:52,406 [INFO] gs_gym.envs.benchgen.export: Saved episode 196: 216 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
123
+ 2026-03-11 19:39:01,135 [INFO] gs_gym.envs.benchgen.export: Saved episode 197: 173 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
124
+ 2026-03-11 19:39:12,314 [INFO] gs_gym.envs.benchgen.export: Saved episode 198: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
125
+ 2026-03-11 19:39:15,910 [INFO] gs_gym.envs.benchgen.export: Skipped episode 199: upside-down gripper detected, task='Pick up the banana and place it in the basket'
126
+ 2026-03-11 19:39:26,206 [INFO] gs_gym.envs.benchgen.export: Saved episode 199: 204 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
127
+ 2026-03-11 19:39:35,187 [INFO] gs_gym.envs.benchgen.export: Saved episode 200: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
128
+ 2026-03-11 19:40:08,555 [INFO] gs_gym.envs.benchgen.export: Saved episode 201: 587 frames (23 static removed), task='Pick up the banana and place it in the basket', success=True
129
+ 2026-03-11 19:40:22,189 [INFO] gs_gym.envs.benchgen.export: Saved episode 202: 214 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:30,524 [INFO] gs_gym.envs.benchgen.export: Saved episode 203: 173 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:38,244 [INFO] gs_gym.envs.benchgen.export: Saved episode 204: 172 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:47,056 [INFO] gs_gym.envs.benchgen.export: Saved episode 205: 177 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:55,384 [INFO] gs_gym.envs.benchgen.export: Saved episode 206: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:28,612 [INFO] gs_gym.envs.benchgen.export: Saved episode 207: 661 frames (28 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:36,922 [INFO] gs_gym.envs.benchgen.export: Saved episode 208: 157 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:48,151 [INFO] gs_gym.envs.benchgen.export: Saved episode 209: 242 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:56,338 [INFO] gs_gym.envs.benchgen.export: Saved episode 210: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:04,543 [INFO] gs_gym.envs.benchgen.export: Saved episode 211: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:12,485 [INFO] gs_gym.envs.benchgen.export: Saved episode 212: 168 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:19,906 [INFO] gs_gym.envs.benchgen.export: Saved episode 213: 149 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:27,909 [INFO] gs_gym.envs.benchgen.export: Saved episode 214: 163 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:36,410 [INFO] gs_gym.envs.benchgen.export: Saved episode 215: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:44,975 [INFO] gs_gym.envs.benchgen.export: Skipped episode 216: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:42:53,782 [INFO] gs_gym.envs.benchgen.export: Saved episode 216: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:03,917 [INFO] gs_gym.envs.benchgen.export: Saved episode 217: 172 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:12,505 [INFO] gs_gym.envs.benchgen.export: Saved episode 218: 160 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:20,732 [INFO] gs_gym.envs.benchgen.export: Saved episode 219: 174 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:29,681 [INFO] gs_gym.envs.benchgen.export: Saved episode 220: 182 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:43,916 [INFO] gs_gym.envs.benchgen.export: Saved episode 221: 279 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:01,725 [INFO] gs_gym.envs.benchgen.export: Saved episode 222: 218 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:17,838 [INFO] gs_gym.envs.benchgen.export: Saved episode 223: 196 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:30,711 [INFO] gs_gym.envs.benchgen.export: Saved episode 224: 220 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:42,012 [INFO] gs_gym.envs.benchgen.export: Saved episode 225: 224 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:54,280 [INFO] gs_gym.envs.benchgen.export: Saved episode 226: 232 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:05,839 [INFO] gs_gym.envs.benchgen.export: Saved episode 227: 241 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:13,669 [INFO] gs_gym.envs.benchgen.export: Saved episode 228: 158 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:17,135 [INFO] gs_gym.envs.benchgen.export: Skipped episode 229: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:45:28,348 [INFO] gs_gym.envs.benchgen.export: Saved episode 229: 235 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:40,346 [INFO] gs_gym.envs.benchgen.export: Saved episode 230: 229 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:51,476 [INFO] gs_gym.envs.benchgen.export: Saved episode 231: 215 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:59,173 [INFO] gs_gym.envs.benchgen.export: Saved episode 232: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:08,023 [INFO] gs_gym.envs.benchgen.export: Saved episode 233: 174 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:20,568 [INFO] gs_gym.envs.benchgen.export: Saved episode 234: 255 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:28,004 [INFO] gs_gym.envs.benchgen.export: Saved episode 235: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:39,115 [INFO] gs_gym.envs.benchgen.export: Saved episode 236: 212 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:57,798 [INFO] gs_gym.envs.benchgen.export: Saved episode 237: 224 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:13,526 [INFO] gs_gym.envs.benchgen.export: Saved episode 238: 264 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:26,885 [INFO] gs_gym.envs.benchgen.export: Saved episode 239: 268 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:38,928 [INFO] gs_gym.envs.benchgen.export: Saved episode 240: 245 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:38,929 [INFO] __main__: Export complete: 48 episodes, 10508 frames
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+ 2026-03-11 19:47:38,929 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 19:47:38,932 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
173
+ 2026-03-11 19:47:40,859 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_005
174
+ 2026-03-11 19:47:46,659 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
175
+ 2026-03-11 19:47:48,463 [INFO] gs_gym.envs.benchgen.loader: Collected 41 trajectories (success only) from 64 trials
176
+ 2026-03-11 19:47:48,463 [INFO] __main__: Loaded 41 trajectories for export
177
+ 2026-03-11 19:47:48,623 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
178
+ 2026-03-11 19:47:48,623 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
179
+ 2026-03-11 19:47:48,631 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
180
+ 2026-03-11 19:47:48,631 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
181
+ 2026-03-11 19:47:48,631 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
182
+ 2026-03-11 19:47:48,912 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
183
+ 2026-03-11 19:47:48,912 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
184
+ 2026-03-11 19:47:51,386 [INFO] genesis: Scene ~~~<<20b4848>>~~~ created.
185
+ 2026-03-11 19:47:51,386 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<30501e2>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
186
+ 2026-03-11 19:47:51,455 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<58235da>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 19:47:52,855 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
188
+ 2026-03-11 19:47:54,629 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<d7bb789>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
189
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
190
+ warnings.warn("pygltflib currently does not remove image data "
191
+ 2026-03-11 19:47:54,655 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
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+ 2026-03-11 19:47:54,670 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<5d38b46>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
193
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
194
+ warnings.warn("pygltflib currently does not remove image data "
195
+ 2026-03-11 19:47:54,742 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
196
+ 2026-03-11 19:47:54,759 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
197
+ 2026-03-11 19:47:54,795 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<5b38ae5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
198
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
199
+ warnings.warn("pygltflib currently does not remove image data "
200
+ 2026-03-11 19:47:54,888 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
201
+ 2026-03-11 19:47:54,916 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
202
+ 2026-03-11 19:47:54,968 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<fa87fe8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
203
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
204
+ warnings.warn("pygltflib currently does not remove image data "
205
+ 2026-03-11 19:47:55,057 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
206
+ 2026-03-11 19:47:55,072 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
207
+ 2026-03-11 19:47:55,118 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<52b2204>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
208
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
209
+ warnings.warn("pygltflib currently does not remove image data "
210
+ 2026-03-11 19:47:55,224 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
211
+ 2026-03-11 19:47:55,293 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
212
+ 2026-03-11 19:47:55,384 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<fd6e890>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
213
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
214
+ warnings.warn("pygltflib currently does not remove image data "
215
+ 2026-03-11 19:47:55,465 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
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+ 2026-03-11 19:47:55,480 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
217
+ 2026-03-11 19:47:55,544 [INFO] genesis: Building scene ~~~<<20b4848>>~~~...
218
+ 2026-03-11 19:47:57,175 [WARNING] genesis: Reference robot position exceeds joint limits.
219
+ 2026-03-11 19:47:58,419 [INFO] genesis: Compiling simulation kernels...
220
+ 2026-03-11 19:47:59,135 [INFO] genesis: Building visualizer...
221
+ 2026-03-11 19:47:59,328 [INFO] __main__: Environment created successfully
222
+ 2026-03-11 19:48:00,058 [INFO] __main__: Loaded pre-built task map with 1 tasks
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+ 2026-03-11 19:48:00,058 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
224
+ 2026-03-11 19:48:04,422 [INFO] gs_gym.envs.benchgen.export: Skipped episode 244: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:48:16,814 [INFO] gs_gym.envs.benchgen.export: Saved episode 244: 245 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:35,109 [INFO] gs_gym.envs.benchgen.export: Saved episode 245: 367 frames (13 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:46,569 [INFO] gs_gym.envs.benchgen.export: Saved episode 246: 229 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:54,437 [INFO] gs_gym.envs.benchgen.export: Saved episode 247: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:05,761 [INFO] gs_gym.envs.benchgen.export: Saved episode 248: 234 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:14,025 [INFO] gs_gym.envs.benchgen.export: Saved episode 249: 170 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:21,858 [INFO] gs_gym.envs.benchgen.export: Saved episode 250: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:34,677 [INFO] gs_gym.envs.benchgen.export: Saved episode 251: 257 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:44,229 [INFO] gs_gym.envs.benchgen.export: Saved episode 252: 162 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:53,994 [INFO] gs_gym.envs.benchgen.export: Saved episode 253: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:03,039 [INFO] gs_gym.envs.benchgen.export: Saved episode 254: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:05,201 [INFO] gs_gym.envs.benchgen.export: Skipped episode 255: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:50:16,364 [INFO] gs_gym.envs.benchgen.export: Saved episode 255: 217 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:28,138 [INFO] gs_gym.envs.benchgen.export: Saved episode 256: 231 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:41,739 [INFO] gs_gym.envs.benchgen.export: Saved episode 257: 272 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:50,437 [INFO] gs_gym.envs.benchgen.export: Saved episode 258: 166 frames, task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:58,587 [INFO] gs_gym.envs.benchgen.export: Saved episode 259: 162 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:07,097 [INFO] gs_gym.envs.benchgen.export: Saved episode 260: 181 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:16,173 [INFO] gs_gym.envs.benchgen.export: Saved episode 261: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:28,501 [INFO] gs_gym.envs.benchgen.export: Saved episode 262: 163 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:39,744 [INFO] gs_gym.envs.benchgen.export: Saved episode 263: 170 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:48,580 [INFO] gs_gym.envs.benchgen.export: Saved episode 264: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:58,913 [INFO] gs_gym.envs.benchgen.export: Saved episode 265: 210 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
248
+ 2026-03-11 19:52:10,733 [INFO] gs_gym.envs.benchgen.export: Saved episode 266: 235 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:18,754 [INFO] gs_gym.envs.benchgen.export: Saved episode 267: 162 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:31,347 [INFO] gs_gym.envs.benchgen.export: Saved episode 268: 257 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:41,189 [INFO] gs_gym.envs.benchgen.export: Saved episode 269: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:54,709 [INFO] gs_gym.envs.benchgen.export: Saved episode 270: 224 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:02,644 [INFO] gs_gym.envs.benchgen.export: Saved episode 271: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
254
+ 2026-03-11 19:53:14,493 [INFO] gs_gym.envs.benchgen.export: Saved episode 272: 239 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:25,625 [INFO] gs_gym.envs.benchgen.export: Saved episode 273: 236 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
256
+ 2026-03-11 19:53:34,204 [INFO] gs_gym.envs.benchgen.export: Saved episode 274: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
257
+ 2026-03-11 19:53:45,738 [INFO] gs_gym.envs.benchgen.export: Saved episode 275: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
258
+ 2026-03-11 19:53:57,740 [INFO] gs_gym.envs.benchgen.export: Saved episode 276: 235 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
259
+ 2026-03-11 19:54:05,553 [INFO] gs_gym.envs.benchgen.export: Saved episode 277: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
260
+ 2026-03-11 19:54:13,408 [INFO] gs_gym.envs.benchgen.export: Saved episode 278: 170 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
261
+ 2026-03-11 19:54:21,251 [INFO] gs_gym.envs.benchgen.export: Saved episode 279: 154 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
262
+ 2026-03-11 19:54:31,720 [INFO] gs_gym.envs.benchgen.export: Saved episode 280: 213 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
263
+ 2026-03-11 19:54:39,409 [INFO] gs_gym.envs.benchgen.export: Saved episode 281: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
264
+ 2026-03-11 19:54:47,571 [INFO] gs_gym.envs.benchgen.export: Saved episode 282: 163 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
265
+ 2026-03-11 19:54:47,572 [INFO] __main__: Export complete: 39 episodes, 7738 frames
266
+ 2026-03-11 19:54:47,572 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
267
+ 2026-03-11 19:54:47,576 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
268
+ 2026-03-11 19:54:48,911 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_006
269
+ 2026-03-11 19:54:54,074 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
270
+ 2026-03-11 19:54:55,883 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
271
+ 2026-03-11 19:54:55,883 [INFO] __main__: Loaded 48 trajectories for export
272
+ 2026-03-11 19:54:56,104 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
273
+ 2026-03-11 19:54:56,104 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
274
+ 2026-03-11 19:54:56,111 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
275
+ 2026-03-11 19:54:56,111 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
276
+ 2026-03-11 19:54:56,111 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
277
+ 2026-03-11 19:54:56,386 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
278
+ 2026-03-11 19:54:56,386 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
279
+ 2026-03-11 19:54:58,746 [INFO] genesis: Scene ~~~<<22d88ba>>~~~ created.
280
+ 2026-03-11 19:54:58,746 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<7413091>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
281
+ 2026-03-11 19:54:58,812 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<76e32d5>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
282
+ 2026-03-11 19:55:00,173 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
283
+ 2026-03-11 19:55:01,975 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<58314cb>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
284
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
285
+ warnings.warn("pygltflib currently does not remove image data "
286
+ 2026-03-11 19:55:02,000 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
287
+ 2026-03-11 19:55:02,015 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<1a4836c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
288
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
289
+ warnings.warn("pygltflib currently does not remove image data "
290
+ 2026-03-11 19:55:02,088 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
291
+ 2026-03-11 19:55:02,106 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
292
+ 2026-03-11 19:55:02,142 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<d0b0a6f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
293
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
294
+ warnings.warn("pygltflib currently does not remove image data "
295
+ 2026-03-11 19:55:02,236 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
296
+ 2026-03-11 19:55:02,264 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
297
+ 2026-03-11 19:55:02,315 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<248b923>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
298
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
299
+ warnings.warn("pygltflib currently does not remove image data "
300
+ 2026-03-11 19:55:02,412 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ 2026-03-11 19:55:02,428 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ 2026-03-11 19:55:02,473 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<fe4c3d5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
303
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
304
+ warnings.warn("pygltflib currently does not remove image data "
305
+ 2026-03-11 19:55:02,591 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
306
+ 2026-03-11 19:55:02,662 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
307
+ 2026-03-11 19:55:02,752 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<5341f63>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
308
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
309
+ warnings.warn("pygltflib currently does not remove image data "
310
+ 2026-03-11 19:55:02,838 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
311
+ 2026-03-11 19:55:02,854 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
312
+ 2026-03-11 19:55:02,918 [INFO] genesis: Building scene ~~~<<22d88ba>>~~~...
313
+ 2026-03-11 19:55:04,566 [WARNING] genesis: Reference robot position exceeds joint limits.
314
+ 2026-03-11 19:55:05,782 [INFO] genesis: Compiling simulation kernels...
315
+ 2026-03-11 19:55:06,508 [INFO] genesis: Building visualizer...
316
+ 2026-03-11 19:55:06,698 [INFO] __main__: Environment created successfully
317
+ 2026-03-11 19:55:07,225 [INFO] __main__: Loaded pre-built task map with 1 tasks
318
+ 2026-03-11 19:55:07,225 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
319
+ 2026-03-11 19:55:18,892 [INFO] gs_gym.envs.benchgen.export: Saved episode 285: 224 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
320
+ 2026-03-11 19:55:29,224 [INFO] gs_gym.envs.benchgen.export: Saved episode 286: 211 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
321
+ 2026-03-11 19:55:43,056 [INFO] gs_gym.envs.benchgen.export: Saved episode 287: 236 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
322
+ 2026-03-11 19:55:52,269 [INFO] gs_gym.envs.benchgen.export: Saved episode 288: 169 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
323
+ 2026-03-11 19:56:00,172 [INFO] gs_gym.envs.benchgen.export: Saved episode 289: 167 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
324
+ 2026-03-11 19:56:11,101 [INFO] gs_gym.envs.benchgen.export: Saved episode 290: 218 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
325
+ 2026-03-11 19:56:18,917 [INFO] gs_gym.envs.benchgen.export: Saved episode 291: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
326
+ 2026-03-11 19:56:22,199 [INFO] gs_gym.envs.benchgen.export: Skipped episode 292: upside-down gripper detected, task='Pick up the banana and place it in the basket'
327
+ 2026-03-11 19:56:24,362 [INFO] gs_gym.envs.benchgen.export: Skipped episode 292: upside-down gripper detected, task='Pick up the banana and place it in the basket'
328
+ 2026-03-11 19:56:35,895 [INFO] gs_gym.envs.benchgen.export: Saved episode 292: 224 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
329
+ 2026-03-11 19:56:44,317 [INFO] gs_gym.envs.benchgen.export: Saved episode 293: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
330
+ 2026-03-11 19:56:55,242 [INFO] gs_gym.envs.benchgen.export: Saved episode 294: 188 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
331
+ 2026-03-11 19:57:09,309 [INFO] gs_gym.envs.benchgen.export: Saved episode 295: 257 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
332
+ 2026-03-11 19:57:20,562 [INFO] gs_gym.envs.benchgen.export: Saved episode 296: 223 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
333
+ 2026-03-11 19:57:30,939 [INFO] gs_gym.envs.benchgen.export: Saved episode 297: 211 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:57:42,843 [INFO] gs_gym.envs.benchgen.export: Saved episode 298: 218 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
335
+ 2026-03-11 19:57:54,338 [INFO] gs_gym.envs.benchgen.export: Saved episode 299: 213 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:57:56,946 [INFO] gs_gym.envs.benchgen.export: Skipped episode 300: upside-down gripper detected, task='Pick up the banana and place it in the basket'
337
+ 2026-03-11 19:58:09,102 [INFO] gs_gym.envs.benchgen.export: Saved episode 300: 253 frames (12 static removed), task='Pick up the banana and place it in the basket', success=True
338
+ 2026-03-11 19:58:17,461 [INFO] gs_gym.envs.benchgen.export: Saved episode 301: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
339
+ 2026-03-11 19:58:26,085 [INFO] gs_gym.envs.benchgen.export: Saved episode 302: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
340
+ 2026-03-11 19:58:34,217 [INFO] gs_gym.envs.benchgen.export: Saved episode 303: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
341
+ 2026-03-11 19:58:48,128 [INFO] gs_gym.envs.benchgen.export: Saved episode 304: 292 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
342
+ 2026-03-11 19:58:56,780 [INFO] gs_gym.envs.benchgen.export: Saved episode 305: 171 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
343
+ 2026-03-11 19:59:05,316 [INFO] gs_gym.envs.benchgen.export: Saved episode 306: 167 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
344
+ 2026-03-11 19:59:13,837 [INFO] gs_gym.envs.benchgen.export: Saved episode 307: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
345
+ 2026-03-11 19:59:25,530 [INFO] gs_gym.envs.benchgen.export: Saved episode 308: 231 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
346
+ 2026-03-11 19:59:39,221 [INFO] gs_gym.envs.benchgen.export: Saved episode 309: 290 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
347
+ 2026-03-11 19:59:49,891 [INFO] gs_gym.envs.benchgen.export: Saved episode 310: 170 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
348
+ 2026-03-11 19:59:59,910 [INFO] gs_gym.envs.benchgen.export: Saved episode 311: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
349
+ 2026-03-11 20:00:09,424 [INFO] gs_gym.envs.benchgen.export: Saved episode 312: 182 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 20:00:18,178 [INFO] gs_gym.envs.benchgen.export: Skipped episode 313: upside-down gripper detected, task='Pick up the banana and place it in the basket'
351
+ 2026-03-11 20:00:28,416 [INFO] gs_gym.envs.benchgen.export: Saved episode 313: 207 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
352
+ 2026-03-11 20:00:36,828 [INFO] gs_gym.envs.benchgen.export: Saved episode 314: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
353
+ 2026-03-11 20:00:39,207 [INFO] gs_gym.envs.benchgen.export: Skipped episode 315: upside-down gripper detected, task='Pick up the banana and place it in the basket'
354
+ 2026-03-11 20:00:53,053 [INFO] gs_gym.envs.benchgen.export: Saved episode 315: 283 frames (15 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:01:00,647 [INFO] gs_gym.envs.benchgen.export: Saved episode 316: 156 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:01:13,368 [INFO] gs_gym.envs.benchgen.export: Saved episode 317: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
357
+ 2026-03-11 20:01:22,884 [INFO] gs_gym.envs.benchgen.export: Saved episode 318: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
358
+ 2026-03-11 20:01:34,855 [INFO] gs_gym.envs.benchgen.export: Saved episode 319: 238 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
359
+ 2026-03-11 20:01:48,453 [INFO] gs_gym.envs.benchgen.export: Saved episode 320: 290 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
360
+ 2026-03-11 20:01:58,155 [INFO] gs_gym.envs.benchgen.export: Saved episode 321: 191 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
361
+ 2026-03-11 20:02:06,369 [INFO] gs_gym.envs.benchgen.export: Saved episode 322: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
362
+ 2026-03-11 20:02:18,338 [INFO] gs_gym.envs.benchgen.export: Saved episode 323: 251 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
363
+ 2026-03-11 20:02:29,492 [INFO] gs_gym.envs.benchgen.export: Saved episode 324: 224 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
364
+ 2026-03-11 20:02:41,682 [INFO] gs_gym.envs.benchgen.export: Saved episode 325: 240 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
365
+ 2026-03-11 20:02:53,357 [INFO] gs_gym.envs.benchgen.export: Saved episode 326: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
366
+ 2026-03-11 20:03:06,674 [INFO] gs_gym.envs.benchgen.export: Saved episode 327: 259 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
367
+ 2026-03-11 20:03:06,675 [INFO] __main__: Export complete: 43 episodes, 8970 frames
368
+ 2026-03-11 20:03:06,676 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
369
+ 2026-03-11 20:03:06,679 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
370
+ 2026-03-11 20:03:08,064 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_008
371
+ 2026-03-11 20:03:13,118 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
372
+ 2026-03-11 20:03:14,730 [INFO] gs_gym.envs.benchgen.loader: Collected 49 trajectories (success only) from 64 trials
373
+ 2026-03-11 20:03:14,730 [INFO] __main__: Loaded 49 trajectories for export
374
+ 2026-03-11 20:03:14,893 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
375
+ 2026-03-11 20:03:14,894 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
376
+ 2026-03-11 20:03:14,901 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
377
+ 2026-03-11 20:03:14,902 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
378
+ 2026-03-11 20:03:14,902 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
379
+ 2026-03-11 20:03:15,190 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
380
+ 2026-03-11 20:03:15,190 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
381
+ 2026-03-11 20:03:17,501 [INFO] genesis: Scene ~~~<<08ff90f>>~~~ created.
382
+ 2026-03-11 20:03:17,501 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<0811f63>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
383
+ 2026-03-11 20:03:17,568 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<00e2879>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
384
+ 2026-03-11 20:03:18,974 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
385
+ 2026-03-11 20:03:20,786 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<4698780>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
386
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
387
+ warnings.warn("pygltflib currently does not remove image data "
388
+ 2026-03-11 20:03:20,812 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
389
+ 2026-03-11 20:03:20,828 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<9c134b4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
390
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
391
+ warnings.warn("pygltflib currently does not remove image data "
392
+ 2026-03-11 20:03:20,900 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
393
+ 2026-03-11 20:03:20,918 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
394
+ 2026-03-11 20:03:20,955 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<3ba52b1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
395
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
396
+ warnings.warn("pygltflib currently does not remove image data "
397
+ 2026-03-11 20:03:21,046 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
398
+ 2026-03-11 20:03:21,075 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
399
+ 2026-03-11 20:03:21,127 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<88036fb>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
400
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
401
+ warnings.warn("pygltflib currently does not remove image data "
402
+ 2026-03-11 20:03:21,217 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
403
+ 2026-03-11 20:03:21,232 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
404
+ 2026-03-11 20:03:21,278 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<51b3504>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
405
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
406
+ warnings.warn("pygltflib currently does not remove image data "
407
+ 2026-03-11 20:03:21,385 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
408
+ 2026-03-11 20:03:21,455 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
409
+ 2026-03-11 20:03:21,547 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<ab0b098>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
410
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
411
+ warnings.warn("pygltflib currently does not remove image data "
412
+ 2026-03-11 20:03:21,628 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
413
+ 2026-03-11 20:03:21,642 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
414
+ 2026-03-11 20:03:21,707 [INFO] genesis: Building scene ~~~<<08ff90f>>~~~...
415
+ 2026-03-11 20:03:23,343 [WARNING] genesis: Reference robot position exceeds joint limits.
416
+ 2026-03-11 20:03:24,627 [INFO] genesis: Compiling simulation kernels...
417
+ 2026-03-11 20:03:25,360 [INFO] genesis: Building visualizer...
418
+ 2026-03-11 20:03:25,563 [INFO] __main__: Environment created successfully
419
+ 2026-03-11 20:03:26,120 [INFO] __main__: Loaded pre-built task map with 1 tasks
420
+ 2026-03-11 20:03:26,121 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
421
+ 2026-03-11 20:03:37,791 [INFO] gs_gym.envs.benchgen.export: Saved episode 333: 219 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
422
+ 2026-03-11 20:03:40,377 [INFO] gs_gym.envs.benchgen.export: Skipped episode 334: upside-down gripper detected, task='Pick up the banana and place it in the basket'
423
+ 2026-03-11 20:03:52,627 [INFO] gs_gym.envs.benchgen.export: Saved episode 334: 234 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
424
+ 2026-03-11 20:03:58,212 [INFO] gs_gym.envs.benchgen.export: Skipped episode 335: upside-down gripper detected, task='Pick up the banana and place it in the basket'
425
+ 2026-03-11 20:04:11,343 [INFO] gs_gym.envs.benchgen.export: Saved episode 335: 250 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
426
+ 2026-03-11 20:04:23,137 [INFO] gs_gym.envs.benchgen.export: Saved episode 336: 239 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
427
+ 2026-03-11 20:04:35,237 [INFO] gs_gym.envs.benchgen.export: Saved episode 337: 248 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
428
+ 2026-03-11 20:04:46,235 [INFO] gs_gym.envs.benchgen.export: Saved episode 338: 224 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
429
+ 2026-03-11 20:04:55,132 [INFO] gs_gym.envs.benchgen.export: Skipped episode 339: upside-down gripper detected, task='Pick up the banana and place it in the basket'
430
+ 2026-03-11 20:05:03,252 [INFO] gs_gym.envs.benchgen.export: Saved episode 339: 153 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
431
+ 2026-03-11 20:05:17,604 [INFO] gs_gym.envs.benchgen.export: Saved episode 340: 252 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
432
+ 2026-03-11 20:05:30,405 [INFO] gs_gym.envs.benchgen.export: Saved episode 341: 225 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
433
+ 2026-03-11 20:05:38,253 [INFO] gs_gym.envs.benchgen.export: Saved episode 342: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
434
+ 2026-03-11 20:05:50,964 [INFO] gs_gym.envs.benchgen.export: Saved episode 343: 255 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
435
+ 2026-03-11 20:06:01,208 [INFO] gs_gym.envs.benchgen.export: Saved episode 344: 216 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
436
+ 2026-03-11 20:06:04,585 [INFO] gs_gym.envs.benchgen.export: Skipped episode 345: upside-down gripper detected, task='Pick up the banana and place it in the basket'
437
+ 2026-03-11 20:06:16,104 [INFO] gs_gym.envs.benchgen.export: Saved episode 345: 230 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
438
+ 2026-03-11 20:06:23,563 [INFO] gs_gym.envs.benchgen.export: Saved episode 346: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
439
+ 2026-03-11 20:06:28,048 [INFO] gs_gym.envs.benchgen.export: Skipped episode 347: upside-down gripper detected, task='Pick up the banana and place it in the basket'
440
+ 2026-03-11 20:06:39,711 [INFO] gs_gym.envs.benchgen.export: Saved episode 347: 226 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
441
+ 2026-03-11 20:06:48,551 [INFO] gs_gym.envs.benchgen.export: Saved episode 348: 177 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
442
+ 2026-03-11 20:06:59,400 [INFO] gs_gym.envs.benchgen.export: Saved episode 349: 211 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
443
+ 2026-03-11 20:07:08,201 [INFO] gs_gym.envs.benchgen.export: Saved episode 350: 178 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
444
+ 2026-03-11 20:07:19,296 [INFO] gs_gym.envs.benchgen.export: Saved episode 351: 220 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
445
+ 2026-03-11 20:07:21,663 [INFO] gs_gym.envs.benchgen.export: Skipped episode 352: upside-down gripper detected, task='Pick up the banana and place it in the basket'
446
+ 2026-03-11 20:07:30,171 [INFO] gs_gym.envs.benchgen.export: Saved episode 352: 157 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
447
+ 2026-03-11 20:07:43,336 [INFO] gs_gym.envs.benchgen.export: Saved episode 353: 251 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
448
+ 2026-03-11 20:07:55,614 [INFO] gs_gym.envs.benchgen.export: Saved episode 354: 238 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
449
+ 2026-03-11 20:08:07,354 [INFO] gs_gym.envs.benchgen.export: Saved episode 355: 243 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
450
+ 2026-03-11 20:08:18,936 [INFO] gs_gym.envs.benchgen.export: Saved episode 356: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
451
+ 2026-03-11 20:08:26,519 [INFO] gs_gym.envs.benchgen.export: Skipped episode 357: upside-down gripper detected, task='Pick up the banana and place it in the basket'
452
+ 2026-03-11 20:08:38,779 [INFO] gs_gym.envs.benchgen.export: Saved episode 357: 225 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
453
+ 2026-03-11 20:08:46,728 [INFO] gs_gym.envs.benchgen.export: Saved episode 358: 159 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
454
+ 2026-03-11 20:08:59,574 [INFO] gs_gym.envs.benchgen.export: Saved episode 359: 281 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
455
+ 2026-03-11 20:09:02,955 [INFO] gs_gym.envs.benchgen.export: Skipped episode 360: upside-down gripper detected, task='Pick up the banana and place it in the basket'
456
+ 2026-03-11 20:09:14,476 [INFO] gs_gym.envs.benchgen.export: Saved episode 360: 231 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
457
+ 2026-03-11 20:09:25,255 [INFO] gs_gym.envs.benchgen.export: Saved episode 361: 168 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
458
+ 2026-03-11 20:09:37,111 [INFO] gs_gym.envs.benchgen.export: Saved episode 362: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
459
+ 2026-03-11 20:09:46,673 [INFO] gs_gym.envs.benchgen.export: Saved episode 363: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
460
+ 2026-03-11 20:09:57,140 [INFO] gs_gym.envs.benchgen.export: Saved episode 364: 217 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
461
+ 2026-03-11 20:10:05,322 [INFO] gs_gym.envs.benchgen.export: Saved episode 365: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
462
+ 2026-03-11 20:10:13,420 [INFO] gs_gym.envs.benchgen.export: Skipped episode 366: upside-down gripper detected, task='Pick up the banana and place it in the basket'
463
+ 2026-03-11 20:10:24,025 [INFO] gs_gym.envs.benchgen.export: Saved episode 366: 221 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
464
+ 2026-03-11 20:10:34,633 [INFO] gs_gym.envs.benchgen.export: Saved episode 367: 212 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
465
+ 2026-03-11 20:10:42,724 [INFO] gs_gym.envs.benchgen.export: Saved episode 368: 157 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
466
+ 2026-03-11 20:10:51,988 [INFO] gs_gym.envs.benchgen.export: Saved episode 369: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
467
+ 2026-03-11 20:10:55,657 [INFO] gs_gym.envs.benchgen.export: Skipped episode 370: upside-down gripper detected, task='Pick up the banana and place it in the basket'
468
+ 2026-03-11 20:11:08,966 [INFO] gs_gym.envs.benchgen.export: Saved episode 370: 262 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
469
+ 2026-03-11 20:11:17,069 [INFO] gs_gym.envs.benchgen.export: Saved episode 371: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
470
+ 2026-03-11 20:11:17,070 [INFO] __main__: Export complete: 39 episodes, 8163 frames
471
+ 2026-03-11 20:11:17,070 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
472
+ 2026-03-11 20:11:17,073 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_1.out ADDED
@@ -0,0 +1,527 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 1/8: batches [4 5 6 7]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 4: batch_004 (start_episode=193, n_episodes=51)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:36:16] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:36:16] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:36:16] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:36:16] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:36:16] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:36:20] [INFO] Scene <12b894c> created.
14
+ [Genesis] [19:36:20] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <443461d>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:36:20] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:36:20] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <192ba18>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:36:22] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:36:22] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:22] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:23] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:23] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:24] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:25] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:25] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:26] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:27] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:27] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:28] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:30] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:31] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:31] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <c91b546>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:31] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:31] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:32] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <e753cb3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:32] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:32] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:32.496] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:32.497] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:32.497] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:32.497] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:32.497] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:32.497] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:32.497] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:32.497] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:32.497] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:32.497] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:32.497] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:32.497] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:32.497] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:32.497] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:32.497] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:32.497] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:32.499] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:32.499] [CoACD] [info] Manifold Check Time: 0.001783s
58
+ [2026-03-11 19:36:32.499] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:32.499] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:32.499] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:32.527] [CoACD] [info] Preprocess Time: 0.343026s
62
+ [2026-03-11 19:36:32.527] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:32.527] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:32.527] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:32.527] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:32.535] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:36.622] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:36.622] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:36.622] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:36.622] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:39.030] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:39.030] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:39.030] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 19:36:39.030] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 19:36:39.044] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:39.044] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:39.146] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:41.462] [CoACD] [info] Compute Time: 8.93455433100462s
79
+ [2026-03-11 19:36:41.462] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:41] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:42] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:42] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:43] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <6fa2b9b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:43] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:43] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:43] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:43.480] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:43.480] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:43.480] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:43.480] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:43.480] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:43.480] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:43.480] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:43.480] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:43.480] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:43.480] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:43.480] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:43.480] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:43.480] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:43.480] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:43.480] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:43.481] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:43.489] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:43.489] [CoACD] [info] Manifold Check Time: 0.008043s
105
+ [2026-03-11 19:36:43.491] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:43.491] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:43.491] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:43.521] [CoACD] [info] Preprocess Time: 0.481088s
109
+ [2026-03-11 19:36:43.522] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:43.522] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:43.522] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:43.522] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:43.522] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:47.539] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:47.539] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:47.539] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:47.539] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:50.683] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:50.683] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:50.683] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:50.683] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:50.683] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 19:36:50.683] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 19:36:52.107] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:52.107] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:52.107] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:52.107] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:52.116] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:52.116] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:52.260] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:52.599] [CoACD] [info] Compute Time: 9.076928915921599s
132
+ [2026-03-11 19:36:52.599] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:53] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:53] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:53] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <8a12424>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:53] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:53] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:53.450] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:53.450] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:53.450] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:53.450] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:53.450] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:53.450] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:53.450] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:53.450] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:53.450] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:53.450] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:53.450] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:53.450] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:53.450] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:53.450] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:53.450] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:53.450] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:53.452] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:53.452] [CoACD] [info] Manifold Check Time: 0.002283s
160
+ [2026-03-11 19:36:53.453] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:53.453] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:53.453] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:53.470] [CoACD] [info] Preprocess Time: 0.278154s
164
+ [2026-03-11 19:36:53.471] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:53.471] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:53.471] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:53.471] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:53.471] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:56.420] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:56.420] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:56.420] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 19:36:56.420] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 19:36:58.582] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:58.582] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:58.582] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 19:36:58.582] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 19:36:58.582] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 19:36:58.582] [CoACD] [info] Processing [25.0%]
179
+ [2026-03-11 19:36:59.885] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:59.885] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:59.885] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 19:36:59.885] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 19:36:59.895] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:59.895] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:59.966] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:37:00.268] [CoACD] [info] Compute Time: 6.797421197406948s
187
+ [2026-03-11 19:37:00.268] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:37:01] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:37:01] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:37:01] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:37:02] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <8f16a7a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:37:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:37:02] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:37:02] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:37:02.245] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:37:02.245] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:37:02.245] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:37:02.245] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:37:02.245] [CoACD] [info] pca false
202
+ [2026-03-11 19:37:02.245] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:37:02.245] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:37:02.245] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:37:02.245] [CoACD] [info] merge true
206
+ [2026-03-11 19:37:02.245] [CoACD] [info] decimate true
207
+ [2026-03-11 19:37:02.245] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:37:02.245] [CoACD] [info] extrude false
209
+ [2026-03-11 19:37:02.245] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:37:02.245] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:37:02.245] [CoACD] [info] seed 0
212
+ [2026-03-11 19:37:02.246] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:37:02.265] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:37:02.265] [CoACD] [info] Manifold Check Time: 0.019131s
215
+ [2026-03-11 19:37:02.269] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:37:02.270] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:37:02.270] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:37:02.321] [CoACD] [info] Preprocess Time: 0.802911s
219
+ [2026-03-11 19:37:02.322] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:37:02.322] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:37:02.322] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:37:02.322] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:37:02.322] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:37:08.042] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:37:08.042] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:37:08.042] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 19:37:08.042] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 19:37:11.282] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:37:11.283] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:37:11.283] [CoACD] [info] Processing [25.0%]
231
+ [2026-03-11 19:37:11.283] [CoACD] [info] Processing [0.0%]
232
+ [2026-03-11 19:37:11.283] [CoACD] [info] Processing [75.0%]
233
+ [2026-03-11 19:37:11.283] [CoACD] [info] Processing [50.0%]
234
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:37:13.368] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [37.5%]
238
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [75.0%]
239
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [62.5%]
240
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [50.0%]
241
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [87.5%]
242
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [25.0%]
243
+ [2026-03-11 19:37:13.368] [CoACD] [info] Processing [12.5%]
244
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:37:14.842] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [0.0%]
247
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [57.1%]
248
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [85.7%]
249
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [28.6%]
250
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [71.4%]
251
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [14.3%]
252
+ [2026-03-11 19:37:14.842] [CoACD] [info] Processing [42.9%]
253
+ [2026-03-11 19:37:15.980] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:37:15.981] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [37.5%]
257
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [50.0%]
258
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [12.5%]
259
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [62.5%]
260
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [75.0%]
261
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [87.5%]
262
+ [2026-03-11 19:37:15.981] [CoACD] [info] Processing [25.0%]
263
+ [2026-03-11 19:37:16.902] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:37:16.902] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:37:16.902] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 19:37:16.902] [CoACD] [info] Processing [25.0%]
267
+ [2026-03-11 19:37:16.902] [CoACD] [info] Processing [50.0%]
268
+ [2026-03-11 19:37:16.902] [CoACD] [info] Processing [87.5%]
269
+ [2026-03-11 19:37:16.902] [CoACD] [info] Processing [75.0%]
270
+ [2026-03-11 19:37:16.911] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 19:37:16.915] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 19:37:16.915] [CoACD] [info] Processing [12.5%]
273
+ [2026-03-11 19:37:17.362] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:37:17.362] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:37:17.362] [CoACD] [info] Processing [50.0%]
276
+ [2026-03-11 19:37:17.362] [CoACD] [info] Processing [0.0%]
277
+ [2026-03-11 19:37:17.368] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:37:17.368] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:37:20.671] [CoACD] [warning] Max concavity 0.06776572771298296 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:37:20.672] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:37:20.692] [CoACD] [info] Compute Time: 18.369775141123682s
282
+ [2026-03-11 19:37:20.692] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:37:22] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:37:22] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:37:22] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:24] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <128ffdb>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:24] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:24] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:24.796] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:24.796] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:24.796] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:24.796] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:24.796] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:24.796] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:24.796] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:24.796] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:24.796] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:24.796] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:24.796] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:24.796] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:24.796] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:24.796] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:24.796] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:24.796] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:24.799] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:24.799] [CoACD] [info] Manifold Check Time: 0.002991s
321
+ [2026-03-11 19:37:24.800] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:24.800] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:24.800] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:24.818] [CoACD] [info] Preprocess Time: 0.286273s
325
+ [2026-03-11 19:37:24.818] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:24.818] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:24.818] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:24.818] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:24.818] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:27.087] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:27.087] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:27.087] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:27.087] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:28.388] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:28.388] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:28.388] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 19:37:28.388] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 19:37:29.357] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:29.357] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:29.357] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:29.357] [CoACD] [info] Processing [50.0%]
342
+ [2026-03-11 19:37:29.357] [CoACD] [info] Processing [25.0%]
343
+ [2026-03-11 19:37:29.357] [CoACD] [info] Processing [75.0%]
344
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:30.124] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [50.0%]
348
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [37.5%]
349
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [25.0%]
350
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [75.0%]
351
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [87.5%]
352
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [62.5%]
353
+ [2026-03-11 19:37:30.124] [CoACD] [info] Processing [12.5%]
354
+ [2026-03-11 19:37:30.666] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:30.667] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [87.5%]
358
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [25.0%]
359
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [75.0%]
360
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [12.5%]
361
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [50.0%]
362
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [62.5%]
363
+ [2026-03-11 19:37:30.667] [CoACD] [info] Processing [37.5%]
364
+ [2026-03-11 19:37:31.162] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:31.162] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:31.162] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 19:37:31.162] [CoACD] [info] Processing [81.8%]
368
+ [2026-03-11 19:37:31.162] [CoACD] [info] Processing [54.5%]
369
+ [2026-03-11 19:37:31.162] [CoACD] [info] Processing [68.2%]
370
+ [2026-03-11 19:37:31.162] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 19:37:31.162] [CoACD] [info] Processing [27.3%]
372
+ [2026-03-11 19:37:31.178] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 19:37:31.179] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:31.566] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [12.5%]
377
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [0.0%]
378
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [50.0%]
379
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [37.5%]
380
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [25.0%]
381
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [87.5%]
382
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [62.5%]
383
+ [2026-03-11 19:37:31.566] [CoACD] [info] Processing [75.0%]
384
+ [2026-03-11 19:37:31.575] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:31.575] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:32.260] [CoACD] [warning] Max concavity 0.055514278676649494 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 19:37:32.260] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 19:37:32.523] [CoACD] [info] Compute Time: 7.7048200070858s
389
+ [2026-03-11 19:37:32.523] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [19:37:32] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [19:37:32] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [19:37:32] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [19:37:34] [INFO] Building scene <12b894c>...
407
+ [Genesis] [19:37:37] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [19:37:42] [INFO] Compiling simulation kernels...
409
+ [Genesis] [19:38:00] [INFO] Building visualizer...
410
+ next_episode=241 next_index=10508
411
+ [Genesis] [19:47:38] [INFO] 💤 Exiting Genesis and caching compiled kernels...
412
+ Batch batch_004 done!
413
+
414
+ ──────────────────────────────────────────
415
+ Batch 5: batch_005 (start_episode=244, n_episodes=41)
416
+ ──────────────────────────────────────────
417
+ [Genesis] [19:47:48] [INFO] ╭───────────────────────────────────────────────╮
418
+ [Genesis] [19:47:48] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
419
+ [Genesis] [19:47:48] [INFO] ╰───────────────────────────────────────────────╯
420
+ [Genesis] [19:47:48] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
421
+ [Genesis] [19:47:48] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
422
+ [Genesis] [19:47:51] [INFO] Scene <20b4848> created.
423
+ [Genesis] [19:47:51] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <30501e2>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:47:51] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <58235da>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
425
+ [Genesis] [19:47:52] [INFO] Applying offset to base link's pose with user provided value in morph.
426
+ [Genesis] [19:47:54] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <d7bb789>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
427
+ [Genesis] [19:47:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
428
+ [Genesis] [19:47:54] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <5d38b46>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
429
+ [Genesis] [19:47:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
430
+ [Genesis] [19:47:54] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
431
+ [Genesis] [19:47:54] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <5b38ae5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
432
+ [Genesis] [19:47:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
433
+ [Genesis] [19:47:54] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
434
+ [Genesis] [19:47:54] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <fa87fe8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
435
+ [Genesis] [19:47:55] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
436
+ [Genesis] [19:47:55] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
437
+ [Genesis] [19:47:55] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <52b2204>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [19:47:55] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [19:47:55] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [19:47:55] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <fd6e890>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [19:47:55] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [19:47:55] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [19:47:55] [INFO] Building scene <20b4848>...
444
+ [Genesis] [19:47:57] [WARNING] Reference robot position exceeds joint limits.
445
+ [Genesis] [19:47:58] [INFO] Compiling simulation kernels...
446
+ [Genesis] [19:47:59] [INFO] Building visualizer...
447
+ next_episode=283 next_index=7738
448
+ [Genesis] [19:54:47] [INFO] 💤 Exiting Genesis and caching compiled kernels...
449
+ Batch batch_005 done!
450
+
451
+ ──────────────────────────────────────────
452
+ Batch 6: batch_006 (start_episode=285, n_episodes=48)
453
+ ──────────────────────────────────────────
454
+ [Genesis] [19:54:56] [INFO] ╭───────────────────────────────────────────────╮
455
+ [Genesis] [19:54:56] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
456
+ [Genesis] [19:54:56] [INFO] ╰───────────────────────────────────────────────╯
457
+ [Genesis] [19:54:56] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
458
+ [Genesis] [19:54:56] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
459
+ [Genesis] [19:54:58] [INFO] Scene <22d88ba> created.
460
+ [Genesis] [19:54:58] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <7413091>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:54:58] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <76e32d5>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
462
+ [Genesis] [19:55:00] [INFO] Applying offset to base link's pose with user provided value in morph.
463
+ [Genesis] [19:55:01] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <58314cb>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
464
+ [Genesis] [19:55:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
465
+ [Genesis] [19:55:02] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <1a4836c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
466
+ [Genesis] [19:55:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
467
+ [Genesis] [19:55:02] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
468
+ [Genesis] [19:55:02] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <d0b0a6f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
469
+ [Genesis] [19:55:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
470
+ [Genesis] [19:55:02] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
471
+ [Genesis] [19:55:02] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <248b923>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
472
+ [Genesis] [19:55:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
473
+ [Genesis] [19:55:02] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
474
+ [Genesis] [19:55:02] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <fe4c3d5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
475
+ [Genesis] [19:55:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
476
+ [Genesis] [19:55:02] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
477
+ [Genesis] [19:55:02] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <5341f63>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
478
+ [Genesis] [19:55:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
479
+ [Genesis] [19:55:02] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
480
+ [Genesis] [19:55:02] [INFO] Building scene <22d88ba>...
481
+ [Genesis] [19:55:04] [WARNING] Reference robot position exceeds joint limits.
482
+ [Genesis] [19:55:05] [INFO] Compiling simulation kernels...
483
+ [Genesis] [19:55:06] [INFO] Building visualizer...
484
+ next_episode=328 next_index=8970
485
+ [Genesis] [20:03:06] [INFO] 💤 Exiting Genesis and caching compiled kernels...
486
+ Batch batch_006 done!
487
+
488
+ ──────────────────────────────────────────
489
+ Batch 7: batch_008 (start_episode=333, n_episodes=49)
490
+ ──────────────────────────────────────────
491
+ [Genesis] [20:03:14] [INFO] ╭──────────────────────────────���────────────────╮
492
+ [Genesis] [20:03:14] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
493
+ [Genesis] [20:03:14] [INFO] ╰───────────────────────────────────────────────╯
494
+ [Genesis] [20:03:15] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
495
+ [Genesis] [20:03:15] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
496
+ [Genesis] [20:03:17] [INFO] Scene <08ff90f> created.
497
+ [Genesis] [20:03:17] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <0811f63>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
498
+ [Genesis] [20:03:17] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <00e2879>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
499
+ [Genesis] [20:03:18] [INFO] Applying offset to base link's pose with user provided value in morph.
500
+ [Genesis] [20:03:20] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <4698780>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
501
+ [Genesis] [20:03:20] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
502
+ [Genesis] [20:03:20] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <9c134b4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
503
+ [Genesis] [20:03:20] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
504
+ [Genesis] [20:03:20] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
505
+ [Genesis] [20:03:20] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <3ba52b1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
506
+ [Genesis] [20:03:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
507
+ [Genesis] [20:03:21] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
508
+ [Genesis] [20:03:21] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <88036fb>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
509
+ [Genesis] [20:03:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
510
+ [Genesis] [20:03:21] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
511
+ [Genesis] [20:03:21] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <51b3504>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
512
+ [Genesis] [20:03:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
513
+ [Genesis] [20:03:21] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
514
+ [Genesis] [20:03:21] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <ab0b098>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
515
+ [Genesis] [20:03:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
516
+ [Genesis] [20:03:21] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
517
+ [Genesis] [20:03:21] [INFO] Building scene <08ff90f>...
518
+ [Genesis] [20:03:23] [WARNING] Reference robot position exceeds joint limits.
519
+ [Genesis] [20:03:24] [INFO] Compiling simulation kernels...
520
+ [Genesis] [20:03:25] [INFO] Building visualizer...
521
+ next_episode=372 next_index=8163
522
+ [Genesis] [20:11:17] [INFO] 💤 Exiting Genesis and caching compiled kernels...
523
+ Batch batch_008 done!
524
+
525
+ ==========================================
526
+ Worker 1 complete!
527
+ ==========================================
meta/_logs/replay_204436_2.err ADDED
@@ -0,0 +1,465 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:41,862 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_009
2
+ 2026-03-11 19:35:51,313 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:35:53,708 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:35:53,708 [INFO] __main__: Loaded 48 trajectories for export
5
+ 2026-03-11 19:35:53,889 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:35:53,889 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:35:53,898 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:35:53,898 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:35:53,898 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:35:54,446 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:35:54,447 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:35:57,222 [INFO] genesis: Scene ~~~<<22f4844>>~~~ created.
13
+ 2026-03-11 19:35:57,222 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<6fda6b9>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:35:57,287 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:35:58,116 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<51726bf>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:35:59,525 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:35:59,577 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:00,008 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:00,395 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:01,088 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:01,969 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:02,639 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:03,090 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:03,785 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:04,491 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:04,893 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:05,457 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:06,224 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:06,823 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:07,623 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:08,687 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:09,238 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<372221a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:09,267 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:09,281 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:09,670 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<97136dd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:09,750 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:09,767 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:09,778 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:18,716 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:19,388 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:19,982 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:20,549 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<c6a6ef4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:20,652 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:20,680 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:20,693 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:29,705 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:29,816 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:29,954 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:30,171 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:30,251 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:30,404 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<f1726d2>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:30,501 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:30,515 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:30,524 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:36:37,220 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:36:37,546 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:36:37,996 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:36:38,493 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:36:38,591 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:36:38,934 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<19937aa>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:36:39,052 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:36:39,120 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:36:39,150 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:36:57,662 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:36:57,967 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:36:58,258 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:36:58,549 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:36:58,606 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:36:58,901 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:36:59,152 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:36:59,212 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:36:59,629 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:36:59,945 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:00,278 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:00,533 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:00,613 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:00,854 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:01,086 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:01,320 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:01,622 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<c11bdac>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:01,712 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:01,726 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:01,732 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:09,514 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:09,605 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:10,072 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:10,137 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:10,237 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:10,317 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:10,385 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:10,443 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:10,528 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:10,579 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:10,842 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:11,073 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:11,130 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:11,180 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:11,252 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:11,305 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:11,710 [INFO] genesis: Building scene ~~~<<22f4844>>~~~...
113
+ 2026-03-11 19:37:14,207 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:20,600 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:37:59,741 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:38:00,142 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:38:02,104 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:38:02,104 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:38:13,374 [INFO] gs_gym.envs.benchgen.export: Saved episode 382: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:21,339 [INFO] gs_gym.envs.benchgen.export: Saved episode 383: 155 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:33,471 [INFO] gs_gym.envs.benchgen.export: Saved episode 384: 215 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:38,503 [INFO] gs_gym.envs.benchgen.export: Skipped episode 385: upside-down gripper detected, task='Pick up the banana and place it in the basket'
123
+ 2026-03-11 19:38:52,904 [INFO] gs_gym.envs.benchgen.export: Saved episode 385: 249 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
124
+ 2026-03-11 19:39:05,707 [INFO] gs_gym.envs.benchgen.export: Saved episode 386: 221 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
125
+ 2026-03-11 19:39:18,733 [INFO] gs_gym.envs.benchgen.export: Saved episode 387: 225 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
126
+ 2026-03-11 19:39:28,981 [INFO] gs_gym.envs.benchgen.export: Saved episode 388: 197 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
127
+ 2026-03-11 19:39:41,815 [INFO] gs_gym.envs.benchgen.export: Saved episode 389: 227 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:39:50,431 [INFO] gs_gym.envs.benchgen.export: Saved episode 390: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:01,083 [INFO] gs_gym.envs.benchgen.export: Saved episode 391: 217 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
130
+ 2026-03-11 19:40:09,366 [INFO] gs_gym.envs.benchgen.export: Saved episode 392: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:21,950 [INFO] gs_gym.envs.benchgen.export: Saved episode 393: 250 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:24,359 [INFO] gs_gym.envs.benchgen.export: Skipped episode 394: upside-down gripper detected, task='Pick up the banana and place it in the basket'
133
+ 2026-03-11 19:40:36,536 [INFO] gs_gym.envs.benchgen.export: Saved episode 394: 242 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
134
+ 2026-03-11 19:40:47,781 [INFO] gs_gym.envs.benchgen.export: Saved episode 395: 226 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
135
+ 2026-03-11 19:40:59,094 [INFO] gs_gym.envs.benchgen.export: Saved episode 396: 217 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:06,856 [INFO] gs_gym.envs.benchgen.export: Saved episode 397: 153 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
137
+ 2026-03-11 19:41:14,834 [INFO] gs_gym.envs.benchgen.export: Saved episode 398: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
138
+ 2026-03-11 19:41:18,096 [INFO] gs_gym.envs.benchgen.export: Skipped episode 399: upside-down gripper detected, task='Pick up the banana and place it in the basket'
139
+ 2026-03-11 19:41:28,284 [INFO] gs_gym.envs.benchgen.export: Saved episode 399: 174 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
140
+ 2026-03-11 19:41:36,944 [INFO] gs_gym.envs.benchgen.export: Saved episode 400: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
141
+ 2026-03-11 19:41:46,689 [INFO] gs_gym.envs.benchgen.export: Saved episode 401: 185 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
142
+ 2026-03-11 19:42:02,099 [INFO] gs_gym.envs.benchgen.export: Saved episode 402: 241 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
143
+ 2026-03-11 19:42:22,455 [INFO] gs_gym.envs.benchgen.export: Saved episode 403: 225 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
144
+ 2026-03-11 19:42:36,489 [INFO] gs_gym.envs.benchgen.export: Saved episode 404: 221 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
145
+ 2026-03-11 19:42:46,582 [INFO] gs_gym.envs.benchgen.export: Saved episode 405: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
146
+ 2026-03-11 19:42:51,410 [INFO] gs_gym.envs.benchgen.export: Skipped episode 406: upside-down gripper detected, task='Pick up the banana and place it in the basket'
147
+ 2026-03-11 19:43:04,570 [INFO] gs_gym.envs.benchgen.export: Saved episode 406: 261 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
148
+ 2026-03-11 19:43:06,737 [INFO] gs_gym.envs.benchgen.export: Skipped episode 407: upside-down gripper detected, task='Pick up the banana and place it in the basket'
149
+ 2026-03-11 19:43:10,508 [INFO] gs_gym.envs.benchgen.export: Skipped episode 407: upside-down gripper detected, task='Pick up the banana and place it in the basket'
150
+ 2026-03-11 19:43:20,683 [INFO] gs_gym.envs.benchgen.export: Saved episode 407: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
151
+ 2026-03-11 19:43:33,961 [INFO] gs_gym.envs.benchgen.export: Saved episode 408: 221 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
152
+ 2026-03-11 19:43:38,564 [INFO] gs_gym.envs.benchgen.export: Skipped episode 409: upside-down gripper detected, task='Pick up the banana and place it in the basket'
153
+ 2026-03-11 19:43:47,053 [INFO] gs_gym.envs.benchgen.export: Saved episode 409: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
154
+ 2026-03-11 19:43:59,128 [INFO] gs_gym.envs.benchgen.export: Saved episode 410: 222 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
155
+ 2026-03-11 19:44:09,426 [INFO] gs_gym.envs.benchgen.export: Saved episode 411: 196 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
156
+ 2026-03-11 19:44:21,121 [INFO] gs_gym.envs.benchgen.export: Saved episode 412: 232 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
157
+ 2026-03-11 19:44:34,673 [INFO] gs_gym.envs.benchgen.export: Saved episode 413: 273 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
158
+ 2026-03-11 19:44:45,376 [INFO] gs_gym.envs.benchgen.export: Saved episode 414: 200 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
159
+ 2026-03-11 19:44:56,163 [INFO] gs_gym.envs.benchgen.export: Saved episode 415: 211 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
160
+ 2026-03-11 19:45:06,472 [INFO] gs_gym.envs.benchgen.export: Saved episode 416: 207 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
161
+ 2026-03-11 19:45:18,799 [INFO] gs_gym.envs.benchgen.export: Saved episode 417: 248 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
162
+ 2026-03-11 19:45:31,451 [INFO] gs_gym.envs.benchgen.export: Saved episode 418: 245 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
163
+ 2026-03-11 19:45:42,983 [INFO] gs_gym.envs.benchgen.export: Saved episode 419: 223 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
164
+ 2026-03-11 19:45:55,269 [INFO] gs_gym.envs.benchgen.export: Saved episode 420: 229 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
165
+ 2026-03-11 19:46:03,140 [INFO] gs_gym.envs.benchgen.export: Saved episode 421: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
166
+ 2026-03-11 19:46:16,419 [INFO] gs_gym.envs.benchgen.export: Saved episode 422: 175 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
167
+ 2026-03-11 19:46:16,421 [INFO] __main__: Export complete: 41 episodes, 8451 frames
168
+ 2026-03-11 19:46:16,421 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
169
+ 2026-03-11 19:46:16,433 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
170
+ 2026-03-11 19:46:19,564 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_010
171
+ 2026-03-11 19:46:32,669 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
172
+ 2026-03-11 19:46:38,220 [INFO] gs_gym.envs.benchgen.loader: Collected 44 trajectories (success only) from 64 trials
173
+ 2026-03-11 19:46:38,220 [INFO] __main__: Loaded 44 trajectories for export
174
+ 2026-03-11 19:46:38,739 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
175
+ 2026-03-11 19:46:38,739 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
176
+ 2026-03-11 19:46:38,753 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
177
+ 2026-03-11 19:46:38,754 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
178
+ 2026-03-11 19:46:38,754 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
179
+ 2026-03-11 19:46:39,177 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
180
+ 2026-03-11 19:46:39,177 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
181
+ 2026-03-11 19:46:43,627 [INFO] genesis: Scene ~~~<<3ab4f87>>~~~ created.
182
+ 2026-03-11 19:46:43,628 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<ace4a98>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
183
+ 2026-03-11 19:46:43,768 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<476bae5>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
184
+ 2026-03-11 19:46:45,815 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
185
+ 2026-03-11 19:46:48,043 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<d7335b6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
186
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
187
+ warnings.warn("pygltflib currently does not remove image data "
188
+ 2026-03-11 19:46:48,068 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
189
+ 2026-03-11 19:46:48,088 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<83b2168>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 19:46:48,166 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 19:46:48,186 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
194
+ 2026-03-11 19:46:48,229 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<e15c563>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
195
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
196
+ warnings.warn("pygltflib currently does not remove image data "
197
+ 2026-03-11 19:46:48,330 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
198
+ 2026-03-11 19:46:48,365 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
199
+ 2026-03-11 19:46:48,427 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<c5cb716>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
200
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
201
+ warnings.warn("pygltflib currently does not remove image data "
202
+ 2026-03-11 19:46:48,523 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
203
+ 2026-03-11 19:46:48,541 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
204
+ 2026-03-11 19:46:48,598 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<5eb6cae>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
205
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
206
+ warnings.warn("pygltflib currently does not remove image data "
207
+ 2026-03-11 19:46:48,716 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
208
+ 2026-03-11 19:46:48,804 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
209
+ 2026-03-11 19:46:48,914 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<203d9b9>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
210
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
211
+ warnings.warn("pygltflib currently does not remove image data "
212
+ 2026-03-11 19:46:49,003 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
213
+ 2026-03-11 19:46:49,019 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
214
+ 2026-03-11 19:46:49,096 [INFO] genesis: Building scene ~~~<<3ab4f87>>~~~...
215
+ 2026-03-11 19:46:50,814 [WARNING] genesis: Reference robot position exceeds joint limits.
216
+ 2026-03-11 19:46:52,242 [INFO] genesis: Compiling simulation kernels...
217
+ 2026-03-11 19:46:53,107 [INFO] genesis: Building visualizer...
218
+ 2026-03-11 19:46:53,339 [INFO] __main__: Environment created successfully
219
+ 2026-03-11 19:46:54,149 [INFO] __main__: Loaded pre-built task map with 1 tasks
220
+ 2026-03-11 19:46:54,149 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
221
+ 2026-03-11 19:47:06,210 [INFO] gs_gym.envs.benchgen.export: Saved episode 430: 209 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:17,198 [INFO] gs_gym.envs.benchgen.export: Saved episode 431: 217 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:19,580 [INFO] gs_gym.envs.benchgen.export: Skipped episode 432: upside-down gripper detected, task='Pick up the banana and place it in the basket'
224
+ 2026-03-11 19:47:30,872 [INFO] gs_gym.envs.benchgen.export: Saved episode 432: 234 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:39,725 [INFO] gs_gym.envs.benchgen.export: Saved episode 433: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:49,708 [INFO] gs_gym.envs.benchgen.export: Saved episode 434: 180 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:58,251 [INFO] gs_gym.envs.benchgen.export: Saved episode 435: 162 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:06,496 [INFO] gs_gym.envs.benchgen.export: Saved episode 436: 168 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:14,660 [INFO] gs_gym.envs.benchgen.export: Saved episode 437: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:27,909 [INFO] gs_gym.envs.benchgen.export: Saved episode 438: 251 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:37,457 [INFO] gs_gym.envs.benchgen.export: Saved episode 439: 173 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:46,244 [INFO] gs_gym.envs.benchgen.export: Saved episode 440: 174 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:57,582 [INFO] gs_gym.envs.benchgen.export: Saved episode 441: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:05,769 [INFO] gs_gym.envs.benchgen.export: Saved episode 442: 175 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:08,061 [INFO] gs_gym.envs.benchgen.export: Skipped episode 443: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:49:35,798 [INFO] gs_gym.envs.benchgen.export: Saved episode 443: 560 frames (24 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:48,297 [INFO] gs_gym.envs.benchgen.export: Saved episode 444: 230 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:59,196 [INFO] gs_gym.envs.benchgen.export: Saved episode 445: 220 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:27,494 [INFO] gs_gym.envs.benchgen.export: Saved episode 446: 601 frames (25 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:40,274 [INFO] gs_gym.envs.benchgen.export: Saved episode 447: 241 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:09,057 [INFO] gs_gym.envs.benchgen.export: Saved episode 448: 558 frames (18 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:20,600 [INFO] gs_gym.envs.benchgen.export: Saved episode 449: 230 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:23,942 [INFO] gs_gym.envs.benchgen.export: Skipped episode 450: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:51:27,431 [INFO] gs_gym.envs.benchgen.export: Skipped episode 450: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:51:30,649 [INFO] gs_gym.envs.benchgen.export: Skipped episode 450: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:51:41,294 [INFO] gs_gym.envs.benchgen.export: Saved episode 450: 215 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:52,066 [INFO] gs_gym.envs.benchgen.export: Saved episode 451: 220 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:03,359 [INFO] gs_gym.envs.benchgen.export: Saved episode 452: 207 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:15,416 [INFO] gs_gym.envs.benchgen.export: Saved episode 453: 232 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:27,488 [INFO] gs_gym.envs.benchgen.export: Saved episode 454: 244 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:36,160 [INFO] gs_gym.envs.benchgen.export: Saved episode 455: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:47,518 [INFO] gs_gym.envs.benchgen.export: Saved episode 456: 219 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:01,499 [INFO] gs_gym.envs.benchgen.export: Saved episode 457: 257 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:12,601 [INFO] gs_gym.envs.benchgen.export: Saved episode 458: 199 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:14,952 [INFO] gs_gym.envs.benchgen.export: Skipped episode 459: upside-down gripper detected, task='Pick up the banana and place it in the basket'
256
+ 2026-03-11 19:53:17,201 [INFO] gs_gym.envs.benchgen.export: Skipped episode 459: upside-down gripper detected, task='Pick up the banana and place it in the basket'
257
+ 2026-03-11 19:53:25,572 [INFO] gs_gym.envs.benchgen.export: Saved episode 459: 160 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:33,856 [INFO] gs_gym.envs.benchgen.export: Saved episode 460: 159 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
259
+ 2026-03-11 19:53:45,689 [INFO] gs_gym.envs.benchgen.export: Saved episode 461: 240 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:53,476 [INFO] gs_gym.envs.benchgen.export: Saved episode 462: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
261
+ 2026-03-11 19:53:55,964 [INFO] gs_gym.envs.benchgen.export: Skipped episode 463: upside-down gripper detected, task='Pick up the banana and place it in the basket'
262
+ 2026-03-11 19:54:00,839 [INFO] gs_gym.envs.benchgen.export: Skipped episode 463: upside-down gripper detected, task='Pick up the banana and place it in the basket'
263
+ 2026-03-11 19:54:08,832 [INFO] gs_gym.envs.benchgen.export: Saved episode 463: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
264
+ 2026-03-11 19:54:17,035 [INFO] gs_gym.envs.benchgen.export: Saved episode 464: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
265
+ 2026-03-11 19:54:17,036 [INFO] __main__: Export complete: 35 episodes, 8137 frames
266
+ 2026-03-11 19:54:17,036 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
267
+ 2026-03-11 19:54:17,039 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
268
+ 2026-03-11 19:54:18,424 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_011
269
+ 2026-03-11 19:54:24,542 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
270
+ 2026-03-11 19:54:26,373 [INFO] gs_gym.envs.benchgen.loader: Collected 42 trajectories (success only) from 64 trials
271
+ 2026-03-11 19:54:26,373 [INFO] __main__: Loaded 42 trajectories for export
272
+ 2026-03-11 19:54:26,541 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
273
+ 2026-03-11 19:54:26,541 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
274
+ 2026-03-11 19:54:26,549 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
275
+ 2026-03-11 19:54:26,549 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
276
+ 2026-03-11 19:54:26,549 [INFO] genesis: ~<╰───────────────────────────────────��───────────╯>~
277
+ 2026-03-11 19:54:26,827 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
278
+ 2026-03-11 19:54:26,827 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
279
+ 2026-03-11 19:54:28,987 [INFO] genesis: Scene ~~~<<493ec4c>>~~~ created.
280
+ 2026-03-11 19:54:28,987 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<245445b>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
281
+ 2026-03-11 19:54:29,058 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<2d74aba>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
282
+ 2026-03-11 19:54:30,410 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
283
+ 2026-03-11 19:54:32,189 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<9c94d17>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
284
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
285
+ warnings.warn("pygltflib currently does not remove image data "
286
+ 2026-03-11 19:54:32,215 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
287
+ 2026-03-11 19:54:32,229 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<5780da1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
288
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
289
+ warnings.warn("pygltflib currently does not remove image data "
290
+ 2026-03-11 19:54:32,301 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
291
+ 2026-03-11 19:54:32,318 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
292
+ 2026-03-11 19:54:32,354 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<51f30e6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
293
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
294
+ warnings.warn("pygltflib currently does not remove image data "
295
+ 2026-03-11 19:54:32,446 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
296
+ 2026-03-11 19:54:32,474 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
297
+ 2026-03-11 19:54:32,526 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<11d9ea4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
298
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
299
+ warnings.warn("pygltflib currently does not remove image data "
300
+ 2026-03-11 19:54:32,615 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ 2026-03-11 19:54:32,630 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ 2026-03-11 19:54:32,675 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<4a426f3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
303
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
304
+ warnings.warn("pygltflib currently does not remove image data "
305
+ 2026-03-11 19:54:32,780 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
306
+ 2026-03-11 19:54:32,849 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
307
+ 2026-03-11 19:54:32,940 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<f9a9e43>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
308
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
309
+ warnings.warn("pygltflib currently does not remove image data "
310
+ 2026-03-11 19:54:33,021 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
311
+ 2026-03-11 19:54:33,035 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
312
+ 2026-03-11 19:54:33,099 [INFO] genesis: Building scene ~~~<<493ec4c>>~~~...
313
+ 2026-03-11 19:54:34,706 [WARNING] genesis: Reference robot position exceeds joint limits.
314
+ 2026-03-11 19:54:35,966 [INFO] genesis: Compiling simulation kernels...
315
+ 2026-03-11 19:54:36,680 [INFO] genesis: Building visualizer...
316
+ 2026-03-11 19:54:36,880 [INFO] __main__: Environment created successfully
317
+ 2026-03-11 19:54:37,486 [INFO] __main__: Loaded pre-built task map with 1 tasks
318
+ 2026-03-11 19:54:37,486 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
319
+ 2026-03-11 19:54:46,494 [INFO] gs_gym.envs.benchgen.export: Saved episode 474: 162 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
320
+ 2026-03-11 19:54:55,217 [INFO] gs_gym.envs.benchgen.export: Saved episode 475: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
321
+ 2026-03-11 19:55:08,526 [INFO] gs_gym.envs.benchgen.export: Saved episode 476: 263 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
322
+ 2026-03-11 19:55:19,371 [INFO] gs_gym.envs.benchgen.export: Saved episode 477: 215 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
323
+ 2026-03-11 19:55:27,383 [INFO] gs_gym.envs.benchgen.export: Skipped episode 478: upside-down gripper detected, task='Pick up the banana and place it in the basket'
324
+ 2026-03-11 19:55:29,600 [INFO] gs_gym.envs.benchgen.export: Skipped episode 478: upside-down gripper detected, task='Pick up the banana and place it in the basket'
325
+ 2026-03-11 19:55:37,791 [INFO] gs_gym.envs.benchgen.export: Saved episode 478: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
326
+ 2026-03-11 19:55:45,026 [INFO] gs_gym.envs.benchgen.export: Saved episode 479: 146 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
327
+ 2026-03-11 19:55:57,847 [INFO] gs_gym.envs.benchgen.export: Saved episode 480: 270 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
328
+ 2026-03-11 19:56:08,862 [INFO] gs_gym.envs.benchgen.export: Saved episode 481: 216 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
329
+ 2026-03-11 19:56:21,047 [INFO] gs_gym.envs.benchgen.export: Saved episode 482: 239 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
330
+ 2026-03-11 19:56:28,789 [INFO] gs_gym.envs.benchgen.export: Saved episode 483: 158 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
331
+ 2026-03-11 19:56:41,896 [INFO] gs_gym.envs.benchgen.export: Saved episode 484: 252 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
332
+ 2026-03-11 19:56:55,265 [INFO] gs_gym.envs.benchgen.export: Saved episode 485: 274 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
333
+ 2026-03-11 19:57:05,980 [INFO] gs_gym.envs.benchgen.export: Saved episode 486: 210 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:57:17,255 [INFO] gs_gym.envs.benchgen.export: Saved episode 487: 213 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
335
+ 2026-03-11 19:57:30,766 [INFO] gs_gym.envs.benchgen.export: Saved episode 488: 260 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:57:38,603 [INFO] gs_gym.envs.benchgen.export: Saved episode 489: 160 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:57:46,292 [INFO] gs_gym.envs.benchgen.export: Saved episode 490: 153 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:58:00,291 [INFO] gs_gym.envs.benchgen.export: Saved episode 491: 279 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:58:03,766 [INFO] gs_gym.envs.benchgen.export: Skipped episode 492: upside-down gripper detected, task='Pick up the banana and place it in the basket'
340
+ 2026-03-11 19:58:11,704 [INFO] gs_gym.envs.benchgen.export: Saved episode 492: 164 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:58:20,075 [INFO] gs_gym.envs.benchgen.export: Saved episode 493: 160 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:58:33,270 [INFO] gs_gym.envs.benchgen.export: Saved episode 494: 249 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:58:41,548 [INFO] gs_gym.envs.benchgen.export: Saved episode 495: 166 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:58:49,371 [INFO] gs_gym.envs.benchgen.export: Saved episode 496: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:58:57,107 [INFO] gs_gym.envs.benchgen.export: Saved episode 497: 159 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:59:08,585 [INFO] gs_gym.envs.benchgen.export: Saved episode 498: 220 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:59:12,034 [INFO] gs_gym.envs.benchgen.export: Skipped episode 499: upside-down gripper detected, task='Pick up the banana and place it in the basket'
348
+ 2026-03-11 19:59:42,335 [INFO] gs_gym.envs.benchgen.export: Saved episode 499: 591 frames (20 static removed), task='Pick up the banana and place it in the basket', success=True
349
+ 2026-03-11 19:59:54,785 [INFO] gs_gym.envs.benchgen.export: Saved episode 500: 249 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 20:00:05,683 [INFO] gs_gym.envs.benchgen.export: Saved episode 501: 210 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:00:13,317 [INFO] gs_gym.envs.benchgen.export: Saved episode 502: 156 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:00:21,189 [INFO] gs_gym.envs.benchgen.export: Saved episode 503: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
353
+ 2026-03-11 20:00:31,170 [INFO] gs_gym.envs.benchgen.export: Saved episode 504: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
354
+ 2026-03-11 20:00:45,758 [INFO] gs_gym.envs.benchgen.export: Saved episode 505: 267 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:00:54,386 [INFO] gs_gym.envs.benchgen.export: Saved episode 506: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:01:14,054 [INFO] gs_gym.envs.benchgen.export: Saved episode 507: 394 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
357
+ 2026-03-11 20:01:21,906 [INFO] gs_gym.envs.benchgen.export: Saved episode 508: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
358
+ 2026-03-11 20:01:29,843 [INFO] gs_gym.envs.benchgen.export: Saved episode 509: 166 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
359
+ 2026-03-11 20:01:39,309 [INFO] gs_gym.envs.benchgen.export: Saved episode 510: 171 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
360
+ 2026-03-11 20:01:51,906 [INFO] gs_gym.envs.benchgen.export: Saved episode 511: 256 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
361
+ 2026-03-11 20:01:51,916 [INFO] __main__: Export complete: 38 episodes, 8191 frames
362
+ 2026-03-11 20:01:51,917 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
363
+ 2026-03-11 20:01:51,920 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
364
+ 2026-03-11 20:01:53,367 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_012
365
+ 2026-03-11 20:01:59,554 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
366
+ 2026-03-11 20:02:01,473 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
367
+ 2026-03-11 20:02:01,473 [INFO] __main__: Loaded 48 trajectories for export
368
+ 2026-03-11 20:02:01,665 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
369
+ 2026-03-11 20:02:01,665 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
370
+ 2026-03-11 20:02:01,673 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
371
+ 2026-03-11 20:02:01,673 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
372
+ 2026-03-11 20:02:01,673 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
373
+ 2026-03-11 20:02:01,951 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
374
+ 2026-03-11 20:02:01,951 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
375
+ 2026-03-11 20:02:04,187 [INFO] genesis: Scene ~~~<<aee4294>>~~~ created.
376
+ 2026-03-11 20:02:04,188 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<ab5f38a>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
377
+ 2026-03-11 20:02:04,261 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<420860e>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
378
+ 2026-03-11 20:02:05,628 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
379
+ 2026-03-11 20:02:07,418 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<cd17269>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
380
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
381
+ warnings.warn("pygltflib currently does not remove image data "
382
+ 2026-03-11 20:02:07,443 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
383
+ 2026-03-11 20:02:07,458 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<bc2e5a8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
384
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
385
+ warnings.warn("pygltflib currently does not remove image data "
386
+ 2026-03-11 20:02:07,531 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
387
+ 2026-03-11 20:02:07,548 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
388
+ 2026-03-11 20:02:07,585 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<41381fd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
389
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
390
+ warnings.warn("pygltflib currently does not remove image data "
391
+ 2026-03-11 20:02:07,676 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
392
+ 2026-03-11 20:02:07,705 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
393
+ 2026-03-11 20:02:07,757 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<68894b8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
394
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
395
+ warnings.warn("pygltflib currently does not remove image data "
396
+ 2026-03-11 20:02:07,846 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
397
+ 2026-03-11 20:02:07,861 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
398
+ 2026-03-11 20:02:07,907 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<452d1e7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
399
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
400
+ warnings.warn("pygltflib currently does not remove image data "
401
+ 2026-03-11 20:02:08,013 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
402
+ 2026-03-11 20:02:08,083 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
403
+ 2026-03-11 20:02:08,178 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<762b83f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
404
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
405
+ warnings.warn("pygltflib currently does not remove image data "
406
+ 2026-03-11 20:02:08,259 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
407
+ 2026-03-11 20:02:08,273 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
408
+ 2026-03-11 20:02:08,337 [INFO] genesis: Building scene ~~~<<aee4294>>~~~...
409
+ 2026-03-11 20:02:09,952 [WARNING] genesis: Reference robot position exceeds joint limits.
410
+ 2026-03-11 20:02:11,171 [INFO] genesis: Compiling simulation kernels...
411
+ 2026-03-11 20:02:11,862 [INFO] genesis: Building visualizer...
412
+ 2026-03-11 20:02:12,059 [INFO] __main__: Environment created successfully
413
+ 2026-03-11 20:02:12,666 [INFO] __main__: Loaded pre-built task map with 1 tasks
414
+ 2026-03-11 20:02:12,666 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
415
+ 2026-03-11 20:02:24,669 [INFO] gs_gym.envs.benchgen.export: Saved episode 516: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:02:36,876 [INFO] gs_gym.envs.benchgen.export: Saved episode 517: 247 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:02:49,360 [INFO] gs_gym.envs.benchgen.export: Saved episode 518: 225 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:03:00,173 [INFO] gs_gym.envs.benchgen.export: Saved episode 519: 208 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
419
+ 2026-03-11 20:03:08,539 [INFO] gs_gym.envs.benchgen.export: Saved episode 520: 171 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:03:16,271 [INFO] gs_gym.envs.benchgen.export: Saved episode 521: 156 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:03:27,528 [INFO] gs_gym.envs.benchgen.export: Saved episode 522: 233 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:03:36,416 [INFO] gs_gym.envs.benchgen.export: Saved episode 523: 173 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:03:44,514 [INFO] gs_gym.envs.benchgen.export: Saved episode 524: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:03:52,393 [INFO] gs_gym.envs.benchgen.export: Saved episode 525: 159 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
425
+ 2026-03-11 20:04:08,106 [INFO] gs_gym.envs.benchgen.export: Saved episode 526: 314 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 20:04:20,671 [INFO] gs_gym.envs.benchgen.export: Saved episode 527: 249 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
427
+ 2026-03-11 20:04:33,619 [INFO] gs_gym.envs.benchgen.export: Saved episode 528: 256 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
428
+ 2026-03-11 20:04:43,475 [INFO] gs_gym.envs.benchgen.export: Saved episode 529: 173 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
429
+ 2026-03-11 20:04:55,683 [INFO] gs_gym.envs.benchgen.export: Saved episode 530: 230 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
430
+ 2026-03-11 20:05:04,940 [INFO] gs_gym.envs.benchgen.export: Saved episode 531: 155 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
431
+ 2026-03-11 20:05:19,576 [INFO] gs_gym.envs.benchgen.export: Saved episode 532: 270 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
432
+ 2026-03-11 20:05:23,462 [INFO] gs_gym.envs.benchgen.export: Skipped episode 533: upside-down gripper detected, task='Pick up the banana and place it in the basket'
433
+ 2026-03-11 20:05:34,841 [INFO] gs_gym.envs.benchgen.export: Saved episode 533: 222 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
434
+ 2026-03-11 20:05:49,201 [INFO] gs_gym.envs.benchgen.export: Saved episode 534: 252 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
435
+ 2026-03-11 20:05:58,221 [INFO] gs_gym.envs.benchgen.export: Skipped episode 535: upside-down gripper detected, task='Pick up the banana and place it in the basket'
436
+ 2026-03-11 20:06:07,088 [INFO] gs_gym.envs.benchgen.export: Saved episode 535: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
437
+ 2026-03-11 20:06:20,180 [INFO] gs_gym.envs.benchgen.export: Saved episode 536: 254 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
438
+ 2026-03-11 20:06:28,965 [INFO] gs_gym.envs.benchgen.export: Saved episode 537: 171 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
439
+ 2026-03-11 20:06:31,232 [INFO] gs_gym.envs.benchgen.export: Skipped episode 538: upside-down gripper detected, task='Pick up the banana and place it in the basket'
440
+ 2026-03-11 20:06:39,492 [INFO] gs_gym.envs.benchgen.export: Saved episode 538: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
441
+ 2026-03-11 20:06:48,183 [INFO] gs_gym.envs.benchgen.export: Saved episode 539: 166 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
442
+ 2026-03-11 20:07:01,543 [INFO] gs_gym.envs.benchgen.export: Saved episode 540: 244 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
443
+ 2026-03-11 20:07:10,077 [INFO] gs_gym.envs.benchgen.export: Saved episode 541: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
444
+ 2026-03-11 20:07:18,890 [INFO] gs_gym.envs.benchgen.export: Saved episode 542: 168 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
445
+ 2026-03-11 20:07:32,608 [INFO] gs_gym.envs.benchgen.export: Saved episode 543: 225 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
446
+ 2026-03-11 20:07:36,983 [INFO] gs_gym.envs.benchgen.export: Skipped episode 544: upside-down gripper detected, task='Pick up the banana and place it in the basket'
447
+ 2026-03-11 20:07:44,840 [INFO] gs_gym.envs.benchgen.export: Saved episode 544: 157 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
448
+ 2026-03-11 20:07:56,116 [INFO] gs_gym.envs.benchgen.export: Saved episode 545: 203 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
449
+ 2026-03-11 20:08:08,763 [INFO] gs_gym.envs.benchgen.export: Saved episode 546: 217 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
450
+ 2026-03-11 20:08:21,346 [INFO] gs_gym.envs.benchgen.export: Saved episode 547: 248 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
451
+ 2026-03-11 20:08:30,066 [INFO] gs_gym.envs.benchgen.export: Saved episode 548: 174 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
452
+ 2026-03-11 20:08:33,435 [INFO] gs_gym.envs.benchgen.export: Skipped episode 549: upside-down gripper detected, task='Pick up the banana and place it in the basket'
453
+ 2026-03-11 20:08:43,116 [INFO] gs_gym.envs.benchgen.export: Saved episode 549: 181 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
454
+ 2026-03-11 20:08:53,502 [INFO] gs_gym.envs.benchgen.export: Saved episode 550: 183 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
455
+ 2026-03-11 20:09:06,251 [INFO] gs_gym.envs.benchgen.export: Saved episode 551: 231 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
456
+ 2026-03-11 20:09:35,885 [INFO] gs_gym.envs.benchgen.export: Saved episode 552: 571 frames (18 static removed), task='Pick up the banana and place it in the basket', success=True
457
+ 2026-03-11 20:09:39,051 [INFO] gs_gym.envs.benchgen.export: Skipped episode 553: upside-down gripper detected, task='Pick up the banana and place it in the basket'
458
+ 2026-03-11 20:09:53,698 [INFO] gs_gym.envs.benchgen.export: Saved episode 553: 307 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
459
+ 2026-03-11 20:09:57,421 [INFO] gs_gym.envs.benchgen.export: Skipped episode 554: upside-down gripper detected, task='Pick up the banana and place it in the basket'
460
+ 2026-03-11 20:10:06,640 [INFO] gs_gym.envs.benchgen.export: Saved episode 554: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
461
+ 2026-03-11 20:10:14,648 [INFO] gs_gym.envs.benchgen.export: Saved episode 555: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
462
+ 2026-03-11 20:10:23,169 [INFO] gs_gym.envs.benchgen.export: Saved episode 556: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
463
+ 2026-03-11 20:10:23,170 [INFO] __main__: Export complete: 41 episodes, 8743 frames
464
+ 2026-03-11 20:10:23,170 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
465
+ 2026-03-11 20:10:23,174 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_2.out ADDED
@@ -0,0 +1,526 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 2/8: batches [8 9 10 11]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 8: batch_009 (start_episode=382, n_episodes=48)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:35:53] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:35:53] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:35:53] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:35:54] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:35:54] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:35:57] [INFO] Scene <22f4844> created.
14
+ [Genesis] [19:35:57] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <6fda6b9>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:35:57] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:35:58] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <51726bf>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:35:59] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:35:59] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:00] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:00] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:01] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:01] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:02] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:03] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:03] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:04] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:04] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:05] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:06] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:06] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:07] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:08] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:09] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <372221a>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:09] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:09] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:09] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <97136dd>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:09] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:09] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:09] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:09.779] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:09.780] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:09.780] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:09.780] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:09.780] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:09.780] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:09.780] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:09.780] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:09.780] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:09.780] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:09.780] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:09.780] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:09.780] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:09.780] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:09.780] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:09.780] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:09.782] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:09.782] [CoACD] [info] Manifold Check Time: 0.001787s
58
+ [2026-03-11 19:36:09.782] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:09.782] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:09.782] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:09.807] [CoACD] [info] Preprocess Time: 0.334321s
62
+ [2026-03-11 19:36:09.808] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:09.808] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:09.808] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:09.808] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:09.816] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:13.878] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:13.878] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:13.878] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:13.878] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:16.273] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:16.273] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:16.273] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 19:36:16.273] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 19:36:16.287] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:16.287] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:16.390] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:18.693] [CoACD] [info] Compute Time: 8.885529676976148s
79
+ [2026-03-11 19:36:18.693] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:18] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:19] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:19] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:20] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <c6a6ef4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:20] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:20] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:20] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:20.694] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:20.694] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:20.694] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:20.694] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:20.694] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:20.694] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:20.694] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:20.694] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:20.694] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:20.694] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:20.694] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:20.694] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:20.694] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:20.694] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:20.694] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:20.694] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:20.700] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:20.700] [CoACD] [info] Manifold Check Time: 0.006063s
105
+ [2026-03-11 19:36:20.702] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:20.702] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:20.702] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:20.733] [CoACD] [info] Preprocess Time: 0.498425s
109
+ [2026-03-11 19:36:20.734] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:20.734] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:20.734] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:20.734] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:20.734] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:24.658] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:24.658] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:24.658] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:24.658] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:27.761] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:27.761] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:27.761] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:27.761] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:27.761] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 19:36:27.761] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 19:36:29.180] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:29.180] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:29.180] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:29.180] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:29.189] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:29.189] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:29.333] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:29.672] [CoACD] [info] Compute Time: 8.93798953195801s
132
+ [2026-03-11 19:36:29.672] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:30] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:30] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:30] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <f1726d2>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:30] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:30] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:30.524] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:30.524] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:30.524] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:30.524] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:30.524] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:30.524] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:30.524] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:30.524] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:30.524] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:30.524] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:30.524] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:30.524] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:30.524] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:30.524] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:30.524] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:30.524] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:30.526] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:30.526] [CoACD] [info] Manifold Check Time: 0.002258s
160
+ [2026-03-11 19:36:30.527] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:30.527] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:30.527] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:30.544] [CoACD] [info] Preprocess Time: 0.266366s
164
+ [2026-03-11 19:36:30.544] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:30.544] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:30.544] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:30.544] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:30.544] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:33.433] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:33.433] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:33.433] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 19:36:33.433] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 19:36:35.548] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:35.548] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:35.548] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 19:36:35.548] [CoACD] [info] Processing [50.0%]
177
+ [2026-03-11 19:36:35.548] [CoACD] [info] Processing [75.0%]
178
+ [2026-03-11 19:36:35.548] [CoACD] [info] Processing [25.0%]
179
+ [2026-03-11 19:36:36.820] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:36.820] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:36.821] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 19:36:36.821] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 19:36:36.828] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:36.828] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:36.889] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:36:37.190] [CoACD] [info] Compute Time: 6.646498598973267s
187
+ [2026-03-11 19:36:37.190] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:36:37] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:36:37] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:36:37] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:36:38] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:36:38] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:36:38] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <19937aa>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:36:39] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:36:39] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:36:39] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:36:39.151] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:36:39.151] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:36:39.151] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:36:39.151] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:36:39.151] [CoACD] [info] pca false
202
+ [2026-03-11 19:36:39.151] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:36:39.151] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:36:39.151] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:36:39.151] [CoACD] [info] merge true
206
+ [2026-03-11 19:36:39.151] [CoACD] [info] decimate true
207
+ [2026-03-11 19:36:39.151] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:36:39.151] [CoACD] [info] extrude false
209
+ [2026-03-11 19:36:39.151] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:36:39.151] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:36:39.151] [CoACD] [info] seed 0
212
+ [2026-03-11 19:36:39.153] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:36:39.171] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:36:39.171] [CoACD] [info] Manifold Check Time: 0.018894s
215
+ [2026-03-11 19:36:39.175] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:36:39.175] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:36:39.175] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:36:39.225] [CoACD] [info] Preprocess Time: 0.773018s
219
+ [2026-03-11 19:36:39.225] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:36:39.225] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:36:39.225] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:36:39.225] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:36:39.225] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:36:44.888] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:36:44.889] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:36:44.889] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 19:36:44.889] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 19:36:48.120] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:36:48.120] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:36:48.120] [CoACD] [info] Processing [25.0%]
231
+ [2026-03-11 19:36:48.120] [CoACD] [info] Processing [0.0%]
232
+ [2026-03-11 19:36:48.120] [CoACD] [info] Processing [50.0%]
233
+ [2026-03-11 19:36:48.120] [CoACD] [info] Processing [75.0%]
234
+ [2026-03-11 19:36:50.254] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:36:50.255] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [12.5%]
238
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [25.0%]
239
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [62.5%]
240
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [75.0%]
241
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [37.5%]
242
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [50.0%]
243
+ [2026-03-11 19:36:50.255] [CoACD] [info] Processing [87.5%]
244
+ [2026-03-11 19:36:51.759] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:36:51.760] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:36:51.760] [CoACD] [info] Processing [42.9%]
247
+ [2026-03-11 19:36:51.760] [CoACD] [info] Processing [71.4%]
248
+ [2026-03-11 19:36:51.760] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 19:36:51.760] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 19:36:51.760] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 19:36:51.760] [CoACD] [info] Processing [28.6%]
252
+ [2026-03-11 19:36:51.760] [CoACD] [info] Processing [85.7%]
253
+ [2026-03-11 19:36:52.883] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:36:52.884] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [50.0%]
256
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [25.0%]
257
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [12.5%]
258
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [37.5%]
259
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [75.0%]
260
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [62.5%]
261
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [0.0%]
262
+ [2026-03-11 19:36:52.884] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 19:36:53.825] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:36:53.826] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:36:53.826] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 19:36:53.826] [CoACD] [info] Processing [25.0%]
267
+ [2026-03-11 19:36:53.826] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 19:36:53.826] [CoACD] [info] Processing [50.0%]
269
+ [2026-03-11 19:36:53.826] [CoACD] [info] Processing [87.5%]
270
+ [2026-03-11 19:36:53.837] [CoACD] [info] Processing [62.5%]
271
+ [2026-03-11 19:36:53.837] [CoACD] [info] Processing [37.5%]
272
+ [2026-03-11 19:36:53.838] [CoACD] [info] Processing [12.5%]
273
+ [2026-03-11 19:36:54.290] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:36:54.290] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:36:54.290] [CoACD] [info] Processing [50.0%]
276
+ [2026-03-11 19:36:54.290] [CoACD] [info] Processing [0.0%]
277
+ [2026-03-11 19:36:54.295] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:36:54.295] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:36:57.596] [CoACD] [warning] Max concavity 0.06776572771298296 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:36:57.596] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:36:57.615] [CoACD] [info] Compute Time: 18.389985570975114s
282
+ [2026-03-11 19:36:57.615] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:36:57] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:36:57] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:36:58] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:36:58] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:36:58] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:36:58] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:36:59] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:36:59] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:36:59] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:36:59] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:01] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:01] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:01] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <c11bdac>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:01] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:01] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:01] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:01.732] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:01.732] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:01.732] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:01.732] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:01.732] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:01.732] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:01.732] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:01.732] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:01.732] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:01.732] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:01.732] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:01.732] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:01.732] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:01.732] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:01.732] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:01.732] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:01.735] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:01.735] [CoACD] [info] Manifold Check Time: 0.002929s
321
+ [2026-03-11 19:37:01.736] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:01.736] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:01.736] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:01.754] [CoACD] [info] Preprocess Time: 0.291039s
325
+ [2026-03-11 19:37:01.755] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:01.755] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:01.755] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:01.755] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:01.755] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:04.032] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:04.032] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:04.032] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:04.032] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:05.333] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:05.333] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:05.333] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 19:37:05.333] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 19:37:06.298] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:06.298] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:06.298] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:06.298] [CoACD] [info] Processing [25.0%]
342
+ [2026-03-11 19:37:06.298] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 19:37:06.298] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:07.064] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [25.0%]
348
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [87.5%]
349
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [50.0%]
350
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [37.5%]
351
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [62.5%]
352
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [75.0%]
353
+ [2026-03-11 19:37:07.064] [CoACD] [info] Processing [12.5%]
354
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:07.607] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [87.5%]
357
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [0.0%]
358
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [25.0%]
359
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [12.5%]
360
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [50.0%]
361
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [75.0%]
362
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [62.5%]
363
+ [2026-03-11 19:37:07.607] [CoACD] [info] Processing [37.5%]
364
+ [2026-03-11 19:37:08.171] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:08.171] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:08.171] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 19:37:08.171] [CoACD] [info] Processing [54.5%]
368
+ [2026-03-11 19:37:08.171] [CoACD] [info] Processing [68.2%]
369
+ [2026-03-11 19:37:08.171] [CoACD] [info] Processing [95.5%]
370
+ [2026-03-11 19:37:08.171] [CoACD] [info] Processing [81.8%]
371
+ [2026-03-11 19:37:08.171] [CoACD] [info] Processing [27.3%]
372
+ [2026-03-11 19:37:08.186] [CoACD] [info] Processing [40.9%]
373
+ [2026-03-11 19:37:08.188] [CoACD] [info] Processing [13.6%]
374
+ [2026-03-11 19:37:08.520] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:08.521] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [50.0%]
377
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [75.0%]
379
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [25.0%]
380
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [12.5%]
381
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [87.5%]
382
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [62.5%]
383
+ [2026-03-11 19:37:08.521] [CoACD] [info] Processing [0.0%]
384
+ [2026-03-11 19:37:08.529] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:08.529] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:09.211] [CoACD] [info] - Simplify Convex Hulls
387
+ [2026-03-11 19:37:09.473] [CoACD] [info] Compute Time: 7.7185084340162575s
388
+ [2026-03-11 19:37:09.473] [CoACD] [info] # Convex Hulls: 16
389
+ [Genesis] [19:37:09] [INFO] Preprocessing geom idx 56.
390
+ [Genesis] [19:37:09] [INFO] Preprocessing geom idx 57.
391
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 58.
392
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 59.
393
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 60.
394
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 61.
395
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 62.
396
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 63.
397
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 64.
398
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 65.
399
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 66.
400
+ [Genesis] [19:37:11] [INFO] Preprocessing geom idx 67.
401
+ [Genesis] [19:37:11] [INFO] Preprocessing geom idx 68.
402
+ [Genesis] [19:37:11] [INFO] Preprocessing geom idx 69.
403
+ [Genesis] [19:37:11] [INFO] Preprocessing geom idx 70.
404
+ [Genesis] [19:37:11] [INFO] Preprocessing geom idx 71.
405
+ [Genesis] [19:37:11] [INFO] Building scene <22f4844>...
406
+ [Genesis] [19:37:14] [WARNING] Reference robot position exceeds joint limits.
407
+ [Genesis] [19:37:20] [INFO] Compiling simulation kernels...
408
+ [Genesis] [19:37:59] [INFO] Building visualizer...
409
+ next_episode=423 next_index=8451
410
+ [Genesis] [19:46:16] [INFO] 💤 Exiting Genesis and caching compiled kernels...
411
+ Batch batch_009 done!
412
+
413
+ ──────────────────────────────────────────
414
+ Batch 9: batch_010 (start_episode=430, n_episodes=44)
415
+ ──────────────────────────────────────────
416
+ [Genesis] [19:46:38] [INFO] ╭───────────────────────────────────────────────╮
417
+ [Genesis] [19:46:38] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
418
+ [Genesis] [19:46:38] [INFO] ╰───────────────────────────────────────────────╯
419
+ [Genesis] [19:46:39] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
420
+ [Genesis] [19:46:39] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
421
+ [Genesis] [19:46:43] [INFO] Scene <3ab4f87> created.
422
+ [Genesis] [19:46:43] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <ace4a98>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
423
+ [Genesis] [19:46:43] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <476bae5>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:46:45] [INFO] Applying offset to base link's pose with user provided value in morph.
425
+ [Genesis] [19:46:48] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <d7335b6>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
426
+ [Genesis] [19:46:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
427
+ [Genesis] [19:46:48] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <83b2168>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
428
+ [Genesis] [19:46:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
429
+ [Genesis] [19:46:48] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
430
+ [Genesis] [19:46:48] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <e15c563>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
431
+ [Genesis] [19:46:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
432
+ [Genesis] [19:46:48] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
433
+ [Genesis] [19:46:48] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <c5cb716>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [19:46:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
435
+ [Genesis] [19:46:48] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
436
+ [Genesis] [19:46:48] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <5eb6cae>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
437
+ [Genesis] [19:46:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
438
+ [Genesis] [19:46:48] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
439
+ [Genesis] [19:46:48] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <203d9b9>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
440
+ [Genesis] [19:46:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
441
+ [Genesis] [19:46:49] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
442
+ [Genesis] [19:46:49] [INFO] Building scene <3ab4f87>...
443
+ [Genesis] [19:46:50] [WARNING] Reference robot position exceeds joint limits.
444
+ [Genesis] [19:46:52] [INFO] Compiling simulation kernels...
445
+ [Genesis] [19:46:53] [INFO] Building visualizer...
446
+ next_episode=465 next_index=8137
447
+ [Genesis] [19:54:17] [INFO] 💤 Exiting Genesis and caching compiled kernels...
448
+ Batch batch_010 done!
449
+
450
+ ──────────────────────────────────────────
451
+ Batch 10: batch_011 (start_episode=474, n_episodes=42)
452
+ ──────────────────────────────────────────
453
+ [Genesis] [19:54:26] [INFO] ╭───────────────────────────────────────────────╮
454
+ [Genesis] [19:54:26] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
455
+ [Genesis] [19:54:26] [INFO] ╰───────────────────────────────────────────────╯
456
+ [Genesis] [19:54:26] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
457
+ [Genesis] [19:54:26] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
458
+ [Genesis] [19:54:28] [INFO] Scene <493ec4c> created.
459
+ [Genesis] [19:54:28] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <245445b>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
460
+ [Genesis] [19:54:29] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <2d74aba>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:54:30] [INFO] Applying offset to base link's pose with user provided value in morph.
462
+ [Genesis] [19:54:32] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <9c94d17>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
463
+ [Genesis] [19:54:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
464
+ [Genesis] [19:54:32] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <5780da1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
465
+ [Genesis] [19:54:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
466
+ [Genesis] [19:54:32] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
467
+ [Genesis] [19:54:32] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <51f30e6>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
468
+ [Genesis] [19:54:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
469
+ [Genesis] [19:54:32] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
470
+ [Genesis] [19:54:32] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <11d9ea4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
471
+ [Genesis] [19:54:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
472
+ [Genesis] [19:54:32] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
473
+ [Genesis] [19:54:32] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <4a426f3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
474
+ [Genesis] [19:54:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
475
+ [Genesis] [19:54:32] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
476
+ [Genesis] [19:54:32] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <f9a9e43>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
477
+ [Genesis] [19:54:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
478
+ [Genesis] [19:54:33] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
479
+ [Genesis] [19:54:33] [INFO] Building scene <493ec4c>...
480
+ [Genesis] [19:54:34] [WARNING] Reference robot position exceeds joint limits.
481
+ [Genesis] [19:54:35] [INFO] Compiling simulation kernels...
482
+ [Genesis] [19:54:36] [INFO] Building visualizer...
483
+ next_episode=512 next_index=8191
484
+ [Genesis] [20:01:51] [INFO] 💤 Exiting Genesis and caching compiled kernels...
485
+ Batch batch_011 done!
486
+
487
+ ──────────────────────────────────────────
488
+ Batch 11: batch_012 (start_episode=516, n_episodes=48)
489
+ ──────────────────────────────────────────
490
+ [Genesis] [20:02:01] [INFO] ╭───────────────────────────────────────────────╮
491
+ [Genesis] [20:02:01] [INFO] │┈┉���┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
492
+ [Genesis] [20:02:01] [INFO] ╰───────────────────────────────────────────────╯
493
+ [Genesis] [20:02:01] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
494
+ [Genesis] [20:02:01] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
495
+ [Genesis] [20:02:04] [INFO] Scene <aee4294> created.
496
+ [Genesis] [20:02:04] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <ab5f38a>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
497
+ [Genesis] [20:02:04] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <420860e>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
498
+ [Genesis] [20:02:05] [INFO] Applying offset to base link's pose with user provided value in morph.
499
+ [Genesis] [20:02:07] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <cd17269>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
500
+ [Genesis] [20:02:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
501
+ [Genesis] [20:02:07] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <bc2e5a8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
502
+ [Genesis] [20:02:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
503
+ [Genesis] [20:02:07] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
504
+ [Genesis] [20:02:07] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <41381fd>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
505
+ [Genesis] [20:02:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
506
+ [Genesis] [20:02:07] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
507
+ [Genesis] [20:02:07] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <68894b8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
508
+ [Genesis] [20:02:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
509
+ [Genesis] [20:02:07] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
510
+ [Genesis] [20:02:07] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <452d1e7>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
511
+ [Genesis] [20:02:08] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
512
+ [Genesis] [20:02:08] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
513
+ [Genesis] [20:02:08] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <762b83f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
514
+ [Genesis] [20:02:08] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
515
+ [Genesis] [20:02:08] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
516
+ [Genesis] [20:02:08] [INFO] Building scene <aee4294>...
517
+ [Genesis] [20:02:09] [WARNING] Reference robot position exceeds joint limits.
518
+ [Genesis] [20:02:11] [INFO] Compiling simulation kernels...
519
+ [Genesis] [20:02:11] [INFO] Building visualizer...
520
+ next_episode=557 next_index=8743
521
+ [Genesis] [20:10:23] [INFO] 💤 Exiting Genesis and caching compiled kernels...
522
+ Batch batch_012 done!
523
+
524
+ ==========================================
525
+ Worker 2 complete!
526
+ ==========================================
meta/_logs/replay_204436_3.err ADDED
@@ -0,0 +1,468 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:50,281 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_013
2
+ 2026-03-11 19:36:00,211 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:36:02,621 [INFO] gs_gym.envs.benchgen.loader: Collected 48 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:36:02,621 [INFO] __main__: Loaded 48 trajectories for export
5
+ 2026-03-11 19:36:02,799 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:36:02,799 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:36:02,808 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:36:02,808 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:36:02,808 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:36:03,356 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:36:03,356 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:36:06,152 [INFO] genesis: Scene ~~~<<371ea7c>>~~~ created.
13
+ 2026-03-11 19:36:06,152 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<835c286>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:36:06,219 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:36:07,055 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<73ebdc7>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:36:08,451 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:36:08,496 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:08,952 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:09,327 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:10,029 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:10,919 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:11,583 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:12,037 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:12,722 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:13,428 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:13,844 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:14,394 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:15,159 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:15,779 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:16,615 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:17,704 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:18,252 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<64c16fd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:18,288 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:18,302 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:18,693 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<0e8ed3a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:18,767 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:18,785 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:18,796 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:28,228 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:28,949 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:29,579 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:30,167 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<3e81a4e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:30,284 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:30,312 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:30,326 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:39,464 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:39,578 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:39,721 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:39,952 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:40,033 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:40,193 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<918be3a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:40,295 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:40,310 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:40,318 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:36:47,043 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:36:47,371 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:36:47,821 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:36:48,319 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:36:48,418 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:36:48,761 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<3ad65f6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:36:48,886 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:36:48,964 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:36:48,994 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:37:07,668 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:37:07,944 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:37:08,195 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:37:08,427 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:37:08,717 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:37:08,798 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:37:08,855 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:37:08,917 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:37:09,253 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:37:09,508 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:09,928 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:10,247 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:10,488 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:10,782 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:11,084 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:11,374 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:11,610 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<5d2c2cf>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:11,703 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:11,718 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:11,724 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:19,818 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:19,909 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:20,319 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:20,391 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:20,500 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:20,580 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:20,679 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:20,765 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:20,818 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:21,042 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:21,111 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:21,174 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:21,437 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:21,513 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:21,917 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:21,971 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:22,037 [INFO] genesis: Building scene ~~~<<371ea7c>>~~~...
113
+ 2026-03-11 19:37:24,517 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:29,614 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:37:48,231 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:37:48,479 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:37:49,730 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:37:49,730 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:38:00,344 [INFO] gs_gym.envs.benchgen.export: Saved episode 564: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:08,912 [INFO] gs_gym.envs.benchgen.export: Saved episode 565: 163 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:17,735 [INFO] gs_gym.envs.benchgen.export: Saved episode 566: 174 frames, task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:29,762 [INFO] gs_gym.envs.benchgen.export: Saved episode 567: 234 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:38:37,821 [INFO] gs_gym.envs.benchgen.export: Saved episode 568: 164 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:38:46,780 [INFO] gs_gym.envs.benchgen.export: Saved episode 569: 171 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:38:57,088 [INFO] gs_gym.envs.benchgen.export: Saved episode 570: 188 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:39:06,584 [INFO] gs_gym.envs.benchgen.export: Saved episode 571: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:39:28,683 [INFO] gs_gym.envs.benchgen.export: Saved episode 572: 237 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
128
+ 2026-03-11 19:39:36,960 [INFO] gs_gym.envs.benchgen.export: Skipped episode 573: upside-down gripper detected, task='Pick up the banana and place it in the basket'
129
+ 2026-03-11 19:39:47,399 [INFO] gs_gym.envs.benchgen.export: Saved episode 573: 152 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:39:55,209 [INFO] gs_gym.envs.benchgen.export: Skipped episode 574: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:40:08,049 [INFO] gs_gym.envs.benchgen.export: Saved episode 574: 229 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:16,274 [INFO] gs_gym.envs.benchgen.export: Saved episode 575: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:24,723 [INFO] gs_gym.envs.benchgen.export: Saved episode 576: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:34,032 [INFO] gs_gym.envs.benchgen.export: Saved episode 577: 178 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:47,707 [INFO] gs_gym.envs.benchgen.export: Saved episode 578: 253 frames (27 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:40:55,966 [INFO] gs_gym.envs.benchgen.export: Saved episode 579: 161 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:07,345 [INFO] gs_gym.envs.benchgen.export: Saved episode 580: 233 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:20,294 [INFO] gs_gym.envs.benchgen.export: Saved episode 581: 241 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:28,562 [INFO] gs_gym.envs.benchgen.export: Saved episode 582: 156 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:38,733 [INFO] gs_gym.envs.benchgen.export: Saved episode 583: 205 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:51,009 [INFO] gs_gym.envs.benchgen.export: Saved episode 584: 242 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:00,100 [INFO] gs_gym.envs.benchgen.export: Saved episode 585: 173 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:11,796 [INFO] gs_gym.envs.benchgen.export: Saved episode 586: 232 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:24,061 [INFO] gs_gym.envs.benchgen.export: Saved episode 587: 249 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:39,646 [INFO] gs_gym.envs.benchgen.export: Saved episode 588: 272 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
146
+ 2026-03-11 19:42:51,890 [INFO] gs_gym.envs.benchgen.export: Saved episode 589: 202 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
147
+ 2026-03-11 19:43:01,709 [INFO] gs_gym.envs.benchgen.export: Skipped episode 590: upside-down gripper detected, task='Pick up the banana and place it in the basket'
148
+ 2026-03-11 19:43:15,758 [INFO] gs_gym.envs.benchgen.export: Saved episode 590: 254 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
149
+ 2026-03-11 19:43:23,928 [INFO] gs_gym.envs.benchgen.export: Saved episode 591: 155 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
150
+ 2026-03-11 19:43:35,504 [INFO] gs_gym.envs.benchgen.export: Saved episode 592: 164 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
151
+ 2026-03-11 19:43:57,395 [INFO] gs_gym.envs.benchgen.export: Skipped episode 593: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:44:15,731 [INFO] gs_gym.envs.benchgen.export: Saved episode 593: 241 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
153
+ 2026-03-11 19:44:28,815 [INFO] gs_gym.envs.benchgen.export: Saved episode 594: 251 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:37,876 [INFO] gs_gym.envs.benchgen.export: Saved episode 595: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:56,325 [INFO] gs_gym.envs.benchgen.export: Saved episode 596: 227 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:06,987 [INFO] gs_gym.envs.benchgen.export: Saved episode 597: 174 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
157
+ 2026-03-11 19:45:15,987 [INFO] gs_gym.envs.benchgen.export: Saved episode 598: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:28,545 [INFO] gs_gym.envs.benchgen.export: Saved episode 599: 218 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:54,985 [INFO] gs_gym.envs.benchgen.export: Saved episode 600: 518 frames (19 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:06,504 [INFO] gs_gym.envs.benchgen.export: Saved episode 601: 213 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:14,249 [INFO] gs_gym.envs.benchgen.export: Saved episode 602: 154 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:26,504 [INFO] gs_gym.envs.benchgen.export: Saved episode 603: 229 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
163
+ 2026-03-11 19:46:34,251 [INFO] gs_gym.envs.benchgen.export: Saved episode 604: 151 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:44,057 [INFO] gs_gym.envs.benchgen.export: Saved episode 605: 166 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
165
+ 2026-03-11 19:46:57,409 [INFO] gs_gym.envs.benchgen.export: Saved episode 606: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
166
+ 2026-03-11 19:47:11,220 [INFO] gs_gym.envs.benchgen.export: Saved episode 607: 269 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
167
+ 2026-03-11 19:47:11,221 [INFO] __main__: Export complete: 44 episodes, 9123 frames
168
+ 2026-03-11 19:47:11,222 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
169
+ 2026-03-11 19:47:11,225 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
170
+ 2026-03-11 19:47:12,864 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_014
171
+ 2026-03-11 19:47:17,657 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
172
+ 2026-03-11 19:47:19,294 [INFO] gs_gym.envs.benchgen.loader: Collected 47 trajectories (success only) from 64 trials
173
+ 2026-03-11 19:47:19,294 [INFO] __main__: Loaded 46 trajectories for export
174
+ 2026-03-11 19:47:19,469 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
175
+ 2026-03-11 19:47:19,469 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
176
+ 2026-03-11 19:47:19,476 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
177
+ 2026-03-11 19:47:19,477 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
178
+ 2026-03-11 19:47:19,477 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
179
+ 2026-03-11 19:47:19,747 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
180
+ 2026-03-11 19:47:19,747 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
181
+ 2026-03-11 19:47:21,852 [INFO] genesis: Scene ~~~<<a7ac4a2>>~~~ created.
182
+ 2026-03-11 19:47:21,853 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<c0287c3>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
183
+ 2026-03-11 19:47:21,922 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<ee49c96>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
184
+ 2026-03-11 19:47:23,269 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
185
+ 2026-03-11 19:47:25,035 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<1f53ff6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
186
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
187
+ warnings.warn("pygltflib currently does not remove image data "
188
+ 2026-03-11 19:47:25,061 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
189
+ 2026-03-11 19:47:25,075 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<5f12d80>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
190
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
191
+ warnings.warn("pygltflib currently does not remove image data "
192
+ 2026-03-11 19:47:25,147 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
193
+ 2026-03-11 19:47:25,163 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
194
+ 2026-03-11 19:47:25,199 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<3e0fe2b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
195
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
196
+ warnings.warn("pygltflib currently does not remove image data "
197
+ 2026-03-11 19:47:25,291 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
198
+ 2026-03-11 19:47:25,318 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
199
+ 2026-03-11 19:47:25,370 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<0c9b203>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
200
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
201
+ warnings.warn("pygltflib currently does not remove image data "
202
+ 2026-03-11 19:47:25,458 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
203
+ 2026-03-11 19:47:25,473 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
204
+ 2026-03-11 19:47:25,517 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<9f98f44>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
205
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
206
+ warnings.warn("pygltflib currently does not remove image data "
207
+ 2026-03-11 19:47:25,629 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
208
+ 2026-03-11 19:47:25,706 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
209
+ 2026-03-11 19:47:25,796 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<a0501ec>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
210
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
211
+ warnings.warn("pygltflib currently does not remove image data "
212
+ 2026-03-11 19:47:25,875 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
213
+ 2026-03-11 19:47:25,890 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
214
+ 2026-03-11 19:47:25,953 [INFO] genesis: Building scene ~~~<<a7ac4a2>>~~~...
215
+ 2026-03-11 19:47:27,556 [WARNING] genesis: Reference robot position exceeds joint limits.
216
+ 2026-03-11 19:47:28,731 [INFO] genesis: Compiling simulation kernels...
217
+ 2026-03-11 19:47:29,401 [INFO] genesis: Building visualizer...
218
+ 2026-03-11 19:47:29,594 [INFO] __main__: Environment created successfully
219
+ 2026-03-11 19:47:30,128 [INFO] __main__: Loaded pre-built task map with 1 tasks
220
+ 2026-03-11 19:47:30,128 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
221
+ 2026-03-11 19:47:39,393 [INFO] gs_gym.envs.benchgen.export: Saved episode 612: 172 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
222
+ 2026-03-11 19:47:51,418 [INFO] gs_gym.envs.benchgen.export: Saved episode 613: 223 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
223
+ 2026-03-11 19:48:04,378 [INFO] gs_gym.envs.benchgen.export: Saved episode 614: 154 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
224
+ 2026-03-11 19:48:30,062 [INFO] gs_gym.envs.benchgen.export: Saved episode 615: 399 frames (15 static removed), task='Pick up the banana and place it in the basket', success=True
225
+ 2026-03-11 19:48:33,621 [INFO] gs_gym.envs.benchgen.export: Skipped episode 616: upside-down gripper detected, task='Pick up the banana and place it in the basket'
226
+ 2026-03-11 19:48:35,986 [INFO] gs_gym.envs.benchgen.export: Skipped episode 616: upside-down gripper detected, task='Pick up the banana and place it in the basket'
227
+ 2026-03-11 19:48:40,361 [INFO] gs_gym.envs.benchgen.export: Skipped episode 616: upside-down gripper detected, task='Pick up the banana and place it in the basket'
228
+ 2026-03-11 19:48:44,322 [INFO] gs_gym.envs.benchgen.export: Skipped episode 616: upside-down gripper detected, task='Pick up the banana and place it in the basket'
229
+ 2026-03-11 19:48:47,010 [INFO] gs_gym.envs.benchgen.export: Skipped episode 616: upside-down gripper detected, task='Pick up the banana and place it in the basket'
230
+ 2026-03-11 19:49:00,423 [INFO] gs_gym.envs.benchgen.export: Saved episode 616: 234 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
231
+ 2026-03-11 19:49:08,774 [INFO] gs_gym.envs.benchgen.export: Saved episode 617: 172 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
232
+ 2026-03-11 19:49:20,154 [INFO] gs_gym.envs.benchgen.export: Saved episode 618: 216 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
233
+ 2026-03-11 19:49:33,351 [INFO] gs_gym.envs.benchgen.export: Saved episode 619: 228 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
234
+ 2026-03-11 19:49:42,636 [INFO] gs_gym.envs.benchgen.export: Saved episode 620: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
235
+ 2026-03-11 19:49:52,097 [INFO] gs_gym.envs.benchgen.export: Saved episode 621: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
236
+ 2026-03-11 19:50:04,056 [INFO] gs_gym.envs.benchgen.export: Saved episode 622: 225 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
237
+ 2026-03-11 19:50:14,358 [INFO] gs_gym.envs.benchgen.export: Saved episode 623: 167 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
238
+ 2026-03-11 19:50:31,622 [INFO] gs_gym.envs.benchgen.export: Saved episode 624: 245 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
239
+ 2026-03-11 19:50:33,827 [INFO] gs_gym.envs.benchgen.export: Skipped episode 625: upside-down gripper detected, task='Pick up the banana and place it in the basket'
240
+ 2026-03-11 19:50:43,003 [INFO] gs_gym.envs.benchgen.export: Saved episode 625: 166 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
241
+ 2026-03-11 19:50:51,795 [INFO] gs_gym.envs.benchgen.export: Saved episode 626: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
242
+ 2026-03-11 19:51:04,705 [INFO] gs_gym.envs.benchgen.export: Saved episode 627: 241 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
243
+ 2026-03-11 19:51:12,737 [INFO] gs_gym.envs.benchgen.export: Saved episode 628: 152 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
244
+ 2026-03-11 19:51:21,254 [INFO] gs_gym.envs.benchgen.export: Saved episode 629: 163 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
245
+ 2026-03-11 19:51:36,557 [INFO] gs_gym.envs.benchgen.export: Saved episode 630: 287 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
246
+ 2026-03-11 19:51:50,503 [INFO] gs_gym.envs.benchgen.export: Saved episode 631: 230 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
247
+ 2026-03-11 19:52:03,014 [INFO] gs_gym.envs.benchgen.export: Saved episode 632: 248 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
248
+ 2026-03-11 19:52:17,339 [INFO] gs_gym.envs.benchgen.export: Saved episode 633: 265 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
249
+ 2026-03-11 19:52:28,620 [INFO] gs_gym.envs.benchgen.export: Saved episode 634: 173 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
250
+ 2026-03-11 19:52:43,343 [INFO] gs_gym.envs.benchgen.export: Saved episode 635: 180 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
251
+ 2026-03-11 19:52:58,466 [INFO] gs_gym.envs.benchgen.export: Saved episode 636: 224 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
252
+ 2026-03-11 19:53:07,085 [INFO] gs_gym.envs.benchgen.export: Saved episode 637: 162 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
253
+ 2026-03-11 19:53:18,582 [INFO] gs_gym.envs.benchgen.export: Saved episode 638: 225 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
254
+ 2026-03-11 19:53:30,316 [INFO] gs_gym.envs.benchgen.export: Saved episode 639: 223 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
255
+ 2026-03-11 19:53:43,649 [INFO] gs_gym.envs.benchgen.export: Saved episode 640: 247 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
256
+ 2026-03-11 19:53:52,868 [INFO] gs_gym.envs.benchgen.export: Saved episode 641: 182 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
257
+ 2026-03-11 19:54:06,032 [INFO] gs_gym.envs.benchgen.export: Saved episode 642: 240 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
258
+ 2026-03-11 19:54:15,270 [INFO] gs_gym.envs.benchgen.export: Saved episode 643: 171 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
259
+ 2026-03-11 19:54:23,611 [INFO] gs_gym.envs.benchgen.export: Saved episode 644: 154 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
260
+ 2026-03-11 19:54:32,539 [INFO] gs_gym.envs.benchgen.export: Saved episode 645: 176 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
261
+ 2026-03-11 19:54:45,890 [INFO] gs_gym.envs.benchgen.export: Saved episode 646: 240 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
262
+ 2026-03-11 19:54:54,773 [INFO] gs_gym.envs.benchgen.export: Saved episode 647: 151 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
263
+ 2026-03-11 19:54:57,439 [INFO] gs_gym.envs.benchgen.export: Skipped episode 648: upside-down gripper detected, task='Pick up the banana and place it in the basket'
264
+ 2026-03-11 19:55:09,890 [INFO] gs_gym.envs.benchgen.export: Saved episode 648: 233 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
265
+ 2026-03-11 19:55:42,559 [INFO] gs_gym.envs.benchgen.export: Saved episode 649: 604 frames (21 static removed), task='Pick up the banana and place it in the basket', success=True
266
+ 2026-03-11 19:55:50,270 [INFO] gs_gym.envs.benchgen.export: Saved episode 650: 153 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
267
+ 2026-03-11 19:55:50,270 [INFO] __main__: Export complete: 39 episodes, 8418 frames
268
+ 2026-03-11 19:55:50,270 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
269
+ 2026-03-11 19:55:50,274 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
270
+ 2026-03-11 19:55:51,535 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_015
271
+ 2026-03-11 19:55:56,975 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
272
+ 2026-03-11 19:55:59,326 [INFO] gs_gym.envs.benchgen.loader: Collected 47 trajectories (success only) from 64 trials
273
+ 2026-03-11 19:55:59,327 [INFO] __main__: Loaded 46 trajectories for export
274
+ 2026-03-11 19:55:59,572 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
275
+ 2026-03-11 19:55:59,572 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
276
+ 2026-03-11 19:55:59,580 [INFO] genesis: ~<╭────────────────────────────��──────────────────╮>~
277
+ 2026-03-11 19:55:59,580 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
278
+ 2026-03-11 19:55:59,581 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
279
+ 2026-03-11 19:55:59,875 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
280
+ 2026-03-11 19:55:59,875 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
281
+ 2026-03-11 19:56:02,586 [INFO] genesis: Scene ~~~<<8c9da24>>~~~ created.
282
+ 2026-03-11 19:56:02,587 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<55f6f0b>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
283
+ 2026-03-11 19:56:02,672 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<0ee618b>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
284
+ 2026-03-11 19:56:04,219 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
285
+ 2026-03-11 19:56:06,114 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<2fc8587>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
286
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
287
+ warnings.warn("pygltflib currently does not remove image data "
288
+ 2026-03-11 19:56:06,140 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
289
+ 2026-03-11 19:56:06,154 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<f3b0954>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
290
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
291
+ warnings.warn("pygltflib currently does not remove image data "
292
+ 2026-03-11 19:56:06,230 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
293
+ 2026-03-11 19:56:06,250 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
294
+ 2026-03-11 19:56:06,294 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<b048c4f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
295
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
296
+ warnings.warn("pygltflib currently does not remove image data "
297
+ 2026-03-11 19:56:06,390 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
298
+ 2026-03-11 19:56:06,419 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
299
+ 2026-03-11 19:56:06,484 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<6b15586>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
300
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
301
+ warnings.warn("pygltflib currently does not remove image data "
302
+ 2026-03-11 19:56:06,575 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
303
+ 2026-03-11 19:56:06,591 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
304
+ 2026-03-11 19:56:06,645 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<8cf27b4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
305
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
306
+ warnings.warn("pygltflib currently does not remove image data "
307
+ 2026-03-11 19:56:06,755 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
308
+ 2026-03-11 19:56:06,826 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
309
+ 2026-03-11 19:56:06,925 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<96e71ee>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
310
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
311
+ warnings.warn("pygltflib currently does not remove image data "
312
+ 2026-03-11 19:56:07,017 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
313
+ 2026-03-11 19:56:07,035 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
314
+ 2026-03-11 19:56:07,115 [INFO] genesis: Building scene ~~~<<8c9da24>>~~~...
315
+ 2026-03-11 19:56:08,812 [WARNING] genesis: Reference robot position exceeds joint limits.
316
+ 2026-03-11 19:56:10,107 [INFO] genesis: Compiling simulation kernels...
317
+ 2026-03-11 19:56:10,883 [INFO] genesis: Building visualizer...
318
+ 2026-03-11 19:56:11,102 [INFO] __main__: Environment created successfully
319
+ 2026-03-11 19:56:11,867 [INFO] __main__: Loaded pre-built task map with 1 tasks
320
+ 2026-03-11 19:56:11,867 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
321
+ 2026-03-11 19:56:20,358 [INFO] gs_gym.envs.benchgen.export: Saved episode 658: 155 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
322
+ 2026-03-11 19:56:30,864 [INFO] gs_gym.envs.benchgen.export: Saved episode 659: 222 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
323
+ 2026-03-11 19:56:33,891 [INFO] gs_gym.envs.benchgen.export: Skipped episode 660: upside-down gripper detected, task='Pick up the banana and place it in the basket'
324
+ 2026-03-11 19:56:47,405 [INFO] gs_gym.envs.benchgen.export: Saved episode 660: 228 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
325
+ 2026-03-11 19:57:03,637 [INFO] gs_gym.envs.benchgen.export: Saved episode 661: 209 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
326
+ 2026-03-11 19:57:12,880 [INFO] gs_gym.envs.benchgen.export: Saved episode 662: 158 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
327
+ 2026-03-11 19:57:21,926 [INFO] gs_gym.envs.benchgen.export: Saved episode 663: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
328
+ 2026-03-11 19:57:35,318 [INFO] gs_gym.envs.benchgen.export: Saved episode 664: 243 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
329
+ 2026-03-11 19:57:43,392 [INFO] gs_gym.envs.benchgen.export: Saved episode 665: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
330
+ 2026-03-11 19:57:56,482 [INFO] gs_gym.envs.benchgen.export: Saved episode 666: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
331
+ 2026-03-11 19:58:09,375 [INFO] gs_gym.envs.benchgen.export: Saved episode 667: 237 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
332
+ 2026-03-11 19:58:12,863 [INFO] gs_gym.envs.benchgen.export: Skipped episode 668: upside-down gripper detected, task='Pick up the banana and place it in the basket'
333
+ 2026-03-11 19:58:29,233 [INFO] gs_gym.envs.benchgen.export: Saved episode 668: 294 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:59:00,469 [INFO] gs_gym.envs.benchgen.export: Saved episode 669: 562 frames (24 static removed), task='Pick up the banana and place it in the basket', success=True
335
+ 2026-03-11 19:59:13,687 [INFO] gs_gym.envs.benchgen.export: Saved episode 670: 216 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:59:21,809 [INFO] gs_gym.envs.benchgen.export: Saved episode 671: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
337
+ 2026-03-11 19:59:33,216 [INFO] gs_gym.envs.benchgen.export: Saved episode 672: 213 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
338
+ 2026-03-11 19:59:41,935 [INFO] gs_gym.envs.benchgen.export: Saved episode 673: 173 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
339
+ 2026-03-11 19:59:44,144 [INFO] gs_gym.envs.benchgen.export: Skipped episode 674: upside-down gripper detected, task='Pick up the banana and place it in the basket'
340
+ 2026-03-11 19:59:57,245 [INFO] gs_gym.envs.benchgen.export: Saved episode 674: 260 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
341
+ 2026-03-11 20:00:06,335 [INFO] gs_gym.envs.benchgen.export: Saved episode 675: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
342
+ 2026-03-11 20:00:18,700 [INFO] gs_gym.envs.benchgen.export: Saved episode 676: 241 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
343
+ 2026-03-11 20:00:27,377 [INFO] gs_gym.envs.benchgen.export: Saved episode 677: 153 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
344
+ 2026-03-11 20:00:37,139 [INFO] gs_gym.envs.benchgen.export: Saved episode 678: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
345
+ 2026-03-11 20:00:46,421 [INFO] gs_gym.envs.benchgen.export: Skipped episode 679: upside-down gripper detected, task='Pick up the banana and place it in the basket'
346
+ 2026-03-11 20:00:56,144 [INFO] gs_gym.envs.benchgen.export: Saved episode 679: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
347
+ 2026-03-11 20:01:07,368 [INFO] gs_gym.envs.benchgen.export: Saved episode 680: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
348
+ 2026-03-11 20:01:17,444 [INFO] gs_gym.envs.benchgen.export: Saved episode 681: 180 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
349
+ 2026-03-11 20:01:26,607 [INFO] gs_gym.envs.benchgen.export: Saved episode 682: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 20:01:40,717 [INFO] gs_gym.envs.benchgen.export: Saved episode 683: 239 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
351
+ 2026-03-11 20:01:52,048 [INFO] gs_gym.envs.benchgen.export: Saved episode 684: 208 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
352
+ 2026-03-11 20:02:00,973 [INFO] gs_gym.envs.benchgen.export: Saved episode 685: 175 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
353
+ 2026-03-11 20:02:12,753 [INFO] gs_gym.envs.benchgen.export: Saved episode 686: 245 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
354
+ 2026-03-11 20:02:21,722 [INFO] gs_gym.envs.benchgen.export: Saved episode 687: 177 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:02:35,511 [INFO] gs_gym.envs.benchgen.export: Saved episode 688: 244 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:02:39,455 [INFO] gs_gym.envs.benchgen.export: Skipped episode 689: upside-down gripper detected, task='Pick up the banana and place it in the basket'
357
+ 2026-03-11 20:02:42,162 [INFO] gs_gym.envs.benchgen.export: Skipped episode 689: upside-down gripper detected, task='Pick up the banana and place it in the basket'
358
+ 2026-03-11 20:02:51,521 [INFO] gs_gym.envs.benchgen.export: Saved episode 689: 165 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
359
+ 2026-03-11 20:03:05,718 [INFO] gs_gym.envs.benchgen.export: Saved episode 690: 295 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
360
+ 2026-03-11 20:03:08,941 [INFO] gs_gym.envs.benchgen.export: Skipped episode 691: upside-down gripper detected, task='Pick up the banana and place it in the basket'
361
+ 2026-03-11 20:03:17,359 [INFO] gs_gym.envs.benchgen.export: Saved episode 691: 171 frames, task='Pick up the banana and place it in the basket', success=True
362
+ 2026-03-11 20:03:25,528 [INFO] gs_gym.envs.benchgen.export: Saved episode 692: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
363
+ 2026-03-11 20:03:38,697 [INFO] gs_gym.envs.benchgen.export: Saved episode 693: 259 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
364
+ 2026-03-11 20:03:51,842 [INFO] gs_gym.envs.benchgen.export: Saved episode 694: 245 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
365
+ 2026-03-11 20:04:00,313 [INFO] gs_gym.envs.benchgen.export: Saved episode 695: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
366
+ 2026-03-11 20:04:03,032 [INFO] gs_gym.envs.benchgen.export: Skipped episode 696: upside-down gripper detected, task='Pick up the banana and place it in the basket'
367
+ 2026-03-11 20:04:03,033 [INFO] __main__: Export complete: 38 episodes, 8022 frames
368
+ 2026-03-11 20:04:03,033 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
369
+ 2026-03-11 20:04:03,036 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
370
+ 2026-03-11 20:04:04,307 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_016
371
+ 2026-03-11 20:04:09,067 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
372
+ 2026-03-11 20:04:10,863 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
373
+ 2026-03-11 20:04:10,863 [INFO] __main__: Loaded 45 trajectories for export
374
+ 2026-03-11 20:04:11,043 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
375
+ 2026-03-11 20:04:11,043 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
376
+ 2026-03-11 20:04:11,052 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
377
+ 2026-03-11 20:04:11,052 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
378
+ 2026-03-11 20:04:11,052 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
379
+ 2026-03-11 20:04:11,322 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
380
+ 2026-03-11 20:04:11,322 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
381
+ 2026-03-11 20:04:13,635 [INFO] genesis: Scene ~~~<<9a331dd>>~~~ created.
382
+ 2026-03-11 20:04:13,636 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<3b74db6>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
383
+ 2026-03-11 20:04:13,709 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<1f45bbf>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
384
+ 2026-03-11 20:04:15,075 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
385
+ 2026-03-11 20:04:16,855 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<e5f3acc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
386
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
387
+ warnings.warn("pygltflib currently does not remove image data "
388
+ 2026-03-11 20:04:16,882 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
389
+ 2026-03-11 20:04:16,897 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<dbd14c6>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
390
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
391
+ warnings.warn("pygltflib currently does not remove image data "
392
+ 2026-03-11 20:04:16,969 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
393
+ 2026-03-11 20:04:16,986 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
394
+ 2026-03-11 20:04:17,022 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<13c8636>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
395
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
396
+ warnings.warn("pygltflib currently does not remove image data "
397
+ 2026-03-11 20:04:17,118 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
398
+ 2026-03-11 20:04:17,145 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
399
+ 2026-03-11 20:04:17,198 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<c07bf32>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
400
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
401
+ warnings.warn("pygltflib currently does not remove image data "
402
+ 2026-03-11 20:04:17,286 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
403
+ 2026-03-11 20:04:17,302 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
404
+ 2026-03-11 20:04:17,347 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<46cdbda>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
405
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
406
+ warnings.warn("pygltflib currently does not remove image data "
407
+ 2026-03-11 20:04:17,453 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
408
+ 2026-03-11 20:04:17,522 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
409
+ 2026-03-11 20:04:17,613 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<835629f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
410
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
411
+ warnings.warn("pygltflib currently does not remove image data "
412
+ 2026-03-11 20:04:17,695 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
413
+ 2026-03-11 20:04:17,709 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
414
+ 2026-03-11 20:04:17,774 [INFO] genesis: Building scene ~~~<<9a331dd>>~~~...
415
+ 2026-03-11 20:04:19,391 [WARNING] genesis: Reference robot position exceeds joint limits.
416
+ 2026-03-11 20:04:20,592 [INFO] genesis: Compiling simulation kernels...
417
+ 2026-03-11 20:04:21,275 [INFO] genesis: Building visualizer...
418
+ 2026-03-11 20:04:21,474 [INFO] __main__: Environment created successfully
419
+ 2026-03-11 20:04:22,040 [INFO] __main__: Loaded pre-built task map with 1 tasks
420
+ 2026-03-11 20:04:22,040 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
421
+ 2026-03-11 20:04:30,959 [INFO] gs_gym.envs.benchgen.export: Saved episode 704: 166 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
422
+ 2026-03-11 20:04:43,476 [INFO] gs_gym.envs.benchgen.export: Saved episode 705: 235 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
423
+ 2026-03-11 20:04:52,110 [INFO] gs_gym.envs.benchgen.export: Saved episode 706: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
424
+ 2026-03-11 20:05:06,140 [INFO] gs_gym.envs.benchgen.export: Saved episode 707: 227 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
425
+ 2026-03-11 20:05:16,968 [INFO] gs_gym.envs.benchgen.export: Saved episode 708: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
426
+ 2026-03-11 20:05:26,604 [INFO] gs_gym.envs.benchgen.export: Saved episode 709: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
427
+ 2026-03-11 20:05:38,702 [INFO] gs_gym.envs.benchgen.export: Saved episode 710: 213 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
428
+ 2026-03-11 20:05:47,684 [INFO] gs_gym.envs.benchgen.export: Saved episode 711: 170 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
429
+ 2026-03-11 20:05:59,323 [INFO] gs_gym.envs.benchgen.export: Saved episode 712: 217 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
430
+ 2026-03-11 20:06:30,355 [INFO] gs_gym.envs.benchgen.export: Saved episode 713: 553 frames (18 static removed), task='Pick up the banana and place it in the basket', success=True
431
+ 2026-03-11 20:06:39,056 [INFO] gs_gym.envs.benchgen.export: Saved episode 714: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
432
+ 2026-03-11 20:06:49,927 [INFO] gs_gym.envs.benchgen.export: Saved episode 715: 185 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
433
+ 2026-03-11 20:07:03,634 [INFO] gs_gym.envs.benchgen.export: Saved episode 716: 281 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
434
+ 2026-03-11 20:07:05,866 [INFO] gs_gym.envs.benchgen.export: Skipped episode 717: upside-down gripper detected, task='Pick up the banana and place it in the basket'
435
+ 2026-03-11 20:07:19,486 [INFO] gs_gym.envs.benchgen.export: Saved episode 717: 260 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
436
+ 2026-03-11 20:07:27,974 [INFO] gs_gym.envs.benchgen.export: Saved episode 718: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
437
+ 2026-03-11 20:07:36,636 [INFO] gs_gym.envs.benchgen.export: Saved episode 719: 173 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
438
+ 2026-03-11 20:07:44,988 [INFO] gs_gym.envs.benchgen.export: Saved episode 720: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
439
+ 2026-03-11 20:07:57,374 [INFO] gs_gym.envs.benchgen.export: Saved episode 721: 238 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
440
+ 2026-03-11 20:08:06,125 [INFO] gs_gym.envs.benchgen.export: Saved episode 722: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
441
+ 2026-03-11 20:08:14,190 [INFO] gs_gym.envs.benchgen.export: Saved episode 723: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
442
+ 2026-03-11 20:08:17,929 [INFO] gs_gym.envs.benchgen.export: Skipped episode 724: upside-down gripper detected, task='Pick up the banana and place it in the basket'
443
+ 2026-03-11 20:08:27,237 [INFO] gs_gym.envs.benchgen.export: Saved episode 724: 180 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
444
+ 2026-03-11 20:08:37,586 [INFO] gs_gym.envs.benchgen.export: Saved episode 725: 204 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
445
+ 2026-03-11 20:08:45,720 [INFO] gs_gym.envs.benchgen.export: Saved episode 726: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
446
+ 2026-03-11 20:08:57,908 [INFO] gs_gym.envs.benchgen.export: Saved episode 727: 238 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
447
+ 2026-03-11 20:09:10,904 [INFO] gs_gym.envs.benchgen.export: Saved episode 728: 210 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
448
+ 2026-03-11 20:09:32,438 [INFO] gs_gym.envs.benchgen.export: Saved episode 729: 247 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
449
+ 2026-03-11 20:09:47,342 [INFO] gs_gym.envs.benchgen.export: Saved episode 730: 228 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
450
+ 2026-03-11 20:09:49,659 [INFO] gs_gym.envs.benchgen.export: Skipped episode 731: upside-down gripper detected, task='Pick up the banana and place it in the basket'
451
+ 2026-03-11 20:09:57,474 [INFO] gs_gym.envs.benchgen.export: Saved episode 731: 155 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
452
+ 2026-03-11 20:10:08,190 [INFO] gs_gym.envs.benchgen.export: Saved episode 732: 212 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
453
+ 2026-03-11 20:10:19,946 [INFO] gs_gym.envs.benchgen.export: Saved episode 733: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
454
+ 2026-03-11 20:10:36,510 [INFO] gs_gym.envs.benchgen.export: Saved episode 734: 236 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
455
+ 2026-03-11 20:10:46,935 [INFO] gs_gym.envs.benchgen.export: Saved episode 735: 160 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
456
+ 2026-03-11 20:11:00,553 [INFO] gs_gym.envs.benchgen.export: Saved episode 736: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
457
+ 2026-03-11 20:11:13,821 [INFO] gs_gym.envs.benchgen.export: Saved episode 737: 239 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
458
+ 2026-03-11 20:11:22,546 [INFO] gs_gym.envs.benchgen.export: Skipped episode 738: upside-down gripper detected, task='Pick up the banana and place it in the basket'
459
+ 2026-03-11 20:11:30,627 [INFO] gs_gym.envs.benchgen.export: Saved episode 738: 170 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
460
+ 2026-03-11 20:11:39,049 [INFO] gs_gym.envs.benchgen.export: Saved episode 739: 171 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
461
+ 2026-03-11 20:11:47,072 [INFO] gs_gym.envs.benchgen.export: Saved episode 740: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
462
+ 2026-03-11 20:11:55,549 [INFO] gs_gym.envs.benchgen.export: Saved episode 741: 160 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
463
+ 2026-03-11 20:12:06,083 [INFO] gs_gym.envs.benchgen.export: Saved episode 742: 213 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
464
+ 2026-03-11 20:12:13,484 [INFO] gs_gym.envs.benchgen.export: Saved episode 743: 152 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
465
+ 2026-03-11 20:12:23,369 [INFO] gs_gym.envs.benchgen.export: Saved episode 744: 178 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
466
+ 2026-03-11 20:12:23,370 [INFO] __main__: Export complete: 41 episodes, 8344 frames
467
+ 2026-03-11 20:12:23,370 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
468
+ 2026-03-11 20:12:23,373 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_3.out ADDED
@@ -0,0 +1,527 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 3/8: batches [12 13 14 15]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 12: batch_013 (start_episode=564, n_episodes=48)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:36:02] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:36:02] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:36:02] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:36:03] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:36:03] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:36:06] [INFO] Scene <371ea7c> created.
14
+ [Genesis] [19:36:06] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <835c286>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:36:06] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:36:07] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <73ebdc7>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:36:08] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:36:08] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:08] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:09] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:10] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:10] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:11] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:13] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:13] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:14] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:16] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:17] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:18] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <64c16fd>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:18] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:18] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:18] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <0e8ed3a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:18] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:18] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:18] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:18.796] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:18.797] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:18.797] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:18.797] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:18.797] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:18.797] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:18.797] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:18.797] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:18.797] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:18.797] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:18.797] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:18.797] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:18.797] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:18.797] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:18.797] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:18.798] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:18.799] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:18.799] [CoACD] [info] Manifold Check Time: 0.001783s
58
+ [2026-03-11 19:36:18.800] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:18.800] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:18.800] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:18.824] [CoACD] [info] Preprocess Time: 0.322283s
62
+ [2026-03-11 19:36:18.825] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:18.825] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:18.825] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:18.825] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:18.825] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:23.074] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:23.074] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:23.074] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:23.074] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:25.637] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:25.637] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:25.637] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 19:36:25.637] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 19:36:25.654] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:25.654] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:25.736] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:28.204] [CoACD] [info] Compute Time: 9.379040817031637s
79
+ [2026-03-11 19:36:28.204] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:28] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:28] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:30] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <3e81a4e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:30] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:30] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:30.326] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:30.327] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:30.327] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:30.327] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:30.327] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:30.327] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:30.327] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:30.327] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:30.327] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:30.327] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:30.327] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:30.327] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:30.327] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:30.327] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:30.327] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:30.327] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:30.333] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:30.333] [CoACD] [info] Manifold Check Time: 0.006194s
105
+ [2026-03-11 19:36:30.335] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:30.335] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:30.335] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:30.373] [CoACD] [info] Preprocess Time: 0.491877s
109
+ [2026-03-11 19:36:30.374] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:30.374] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:30.374] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:30.374] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:30.374] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:34.382] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:34.382] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:34.382] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:34.382] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:37.531] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:37.531] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:37.531] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:37.531] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:37.531] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 19:36:37.531] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 19:36:38.960] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:38.960] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:38.960] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:38.960] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:38.970] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:38.970] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:39.090] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:39.430] [CoACD] [info] Compute Time: 9.056289945961908s
132
+ [2026-03-11 19:36:39.430] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:39] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:39] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:39] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:39] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:40] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:40] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <918be3a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:40] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:40] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:40] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:40.318] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:40.318] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:40.318] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:40.318] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:40.318] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:40.318] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:40.318] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:40.318] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:40.318] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:40.318] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:40.318] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:40.318] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:40.318] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:40.318] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:40.318] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:40.319] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:40.321] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:40.321] [CoACD] [info] Manifold Check Time: 0.002264s
160
+ [2026-03-11 19:36:40.321] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:40.321] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:40.321] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:40.339] [CoACD] [info] Preprocess Time: 0.275339s
164
+ [2026-03-11 19:36:40.339] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:40.339] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:40.339] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:40.339] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:40.339] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:43.241] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:43.241] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:43.241] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 19:36:43.241] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 19:36:45.361] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:45.361] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:45.361] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 19:36:45.361] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 19:36:45.361] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 19:36:45.361] [CoACD] [info] Processing [25.0%]
179
+ [2026-03-11 19:36:46.641] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:46.641] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:46.641] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 19:36:46.641] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 19:36:46.649] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:46.649] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:46.710] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:36:47.012] [CoACD] [info] Compute Time: 6.673282972013112s
187
+ [2026-03-11 19:36:47.012] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:36:47] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:36:47] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:36:47] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:36:48] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:36:48] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:36:48] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <3ad65f6>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:36:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:36:48] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:36:48] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:36:48.996] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:36:48.996] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:36:48.996] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:36:48.996] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:36:48.996] [CoACD] [info] pca false
202
+ [2026-03-11 19:36:48.996] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:36:48.996] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:36:48.996] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:36:48.996] [CoACD] [info] merge true
206
+ [2026-03-11 19:36:48.996] [CoACD] [info] decimate true
207
+ [2026-03-11 19:36:48.996] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:36:48.996] [CoACD] [info] extrude false
209
+ [2026-03-11 19:36:48.996] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:36:48.996] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:36:48.996] [CoACD] [info] seed 0
212
+ [2026-03-11 19:36:48.997] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:36:49.017] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:36:49.017] [CoACD] [info] Manifold Check Time: 0.019821s
215
+ [2026-03-11 19:36:49.021] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:36:49.022] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:36:49.022] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:36:49.074] [CoACD] [info] Preprocess Time: 0.817702s
219
+ [2026-03-11 19:36:49.075] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:36:49.075] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:36:49.075] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:36:49.075] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:36:49.075] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:36:54.800] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:36:54.800] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:36:54.801] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 19:36:54.801] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 19:36:58.077] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:36:58.077] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:36:58.077] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 19:36:58.077] [CoACD] [info] Processing [75.0%]
232
+ [2026-03-11 19:36:58.077] [CoACD] [info] Processing [50.0%]
233
+ [2026-03-11 19:36:58.077] [CoACD] [info] Processing [25.0%]
234
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:37:00.169] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [75.0%]
238
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [25.0%]
239
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [12.5%]
240
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [62.5%]
241
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [50.0%]
242
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [87.5%]
243
+ [2026-03-11 19:37:00.169] [CoACD] [info] Processing [37.5%]
244
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:37:01.722] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [0.0%]
247
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [28.6%]
248
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [42.9%]
250
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [85.7%]
251
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [57.1%]
252
+ [2026-03-11 19:37:01.722] [CoACD] [info] Processing [71.4%]
253
+ [2026-03-11 19:37:02.802] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:37:02.803] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [62.5%]
256
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [0.0%]
257
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [12.5%]
258
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [75.0%]
259
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [50.0%]
260
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [37.5%]
261
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [25.0%]
262
+ [2026-03-11 19:37:02.803] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 19:37:03.742] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:37:03.743] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:37:03.743] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 19:37:03.743] [CoACD] [info] Processing [50.0%]
267
+ [2026-03-11 19:37:03.743] [CoACD] [info] Processing [75.0%]
268
+ [2026-03-11 19:37:03.743] [CoACD] [info] Processing [87.5%]
269
+ [2026-03-11 19:37:03.743] [CoACD] [info] Processing [25.0%]
270
+ [2026-03-11 19:37:03.752] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 19:37:03.755] [CoACD] [info] Processing [12.5%]
272
+ [2026-03-11 19:37:03.755] [CoACD] [info] Processing [62.5%]
273
+ [2026-03-11 19:37:04.209] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:37:04.209] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:37:04.209] [CoACD] [info] Processing [50.0%]
276
+ [2026-03-11 19:37:04.209] [CoACD] [info] Processing [0.0%]
277
+ [2026-03-11 19:37:04.214] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:37:04.214] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:37:07.601] [CoACD] [warning] Max concavity 0.06691055458481307 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:37:07.601] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:37:07.621] [CoACD] [info] Compute Time: 18.546118127007503s
282
+ [2026-03-11 19:37:07.621] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:37:07] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:37:07] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:37:09] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:37:09] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:09] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:10] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:11] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:11] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:11] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <5d2c2cf>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:11] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:11] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:11] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:11.725] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:11.725] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:11.725] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:11.725] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:11.725] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:11.725] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:11.725] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:11.725] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:11.725] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:11.725] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:11.725] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:11.725] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:11.725] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:11.725] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:11.725] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:11.725] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:11.728] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:11.728] [CoACD] [info] Manifold Check Time: 0.002952s
321
+ [2026-03-11 19:37:11.728] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:11.728] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:11.728] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:11.746] [CoACD] [info] Preprocess Time: 0.272557s
325
+ [2026-03-11 19:37:11.746] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:11.746] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:11.746] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:11.746] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:11.746] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:14.033] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:14.033] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:14.033] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:14.033] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:15.336] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:15.336] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:15.336] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 19:37:15.336] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 19:37:16.304] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:16.305] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:16.305] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:16.305] [CoACD] [info] Processing [25.0%]
342
+ [2026-03-11 19:37:16.305] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 19:37:16.305] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:17.074] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [87.5%]
348
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [75.0%]
349
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [25.0%]
350
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [12.5%]
351
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [37.5%]
352
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [62.5%]
353
+ [2026-03-11 19:37:17.074] [CoACD] [info] Processing [50.0%]
354
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:17.714] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [62.5%]
358
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [37.5%]
359
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [75.0%]
360
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [25.0%]
361
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [87.5%]
362
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [50.0%]
363
+ [2026-03-11 19:37:17.714] [CoACD] [info] Processing [12.5%]
364
+ [2026-03-11 19:37:18.314] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:18.314] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:18.314] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 19:37:18.314] [CoACD] [info] Processing [81.8%]
368
+ [2026-03-11 19:37:18.314] [CoACD] [info] Processing [95.5%]
369
+ [2026-03-11 19:37:18.314] [CoACD] [info] Processing [68.2%]
370
+ [2026-03-11 19:37:18.314] [CoACD] [info] Processing [27.3%]
371
+ [2026-03-11 19:37:18.314] [CoACD] [info] Processing [54.5%]
372
+ [2026-03-11 19:37:18.327] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 19:37:18.333] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:18.769] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [50.0%]
379
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [62.5%]
380
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [12.5%]
381
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [87.5%]
382
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [25.0%]
383
+ [2026-03-11 19:37:18.769] [CoACD] [info] Processing [75.0%]
384
+ [2026-03-11 19:37:18.777] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:18.777] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:19.514] [CoACD] [warning] Max concavity 0.05768146542856461 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 19:37:19.514] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 19:37:19.777] [CoACD] [info] Compute Time: 8.030945600999985s
389
+ [2026-03-11 19:37:19.777] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [19:37:19] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [19:37:19] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [19:37:20] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [19:37:22] [INFO] Building scene <371ea7c>...
407
+ [Genesis] [19:37:24] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [19:37:29] [INFO] Compiling simulation kernels...
409
+ [Genesis] [19:37:48] [INFO] Building visualizer...
410
+ next_episode=608 next_index=9123
411
+ [Genesis] [19:47:11] [INFO] 💤 Exiting Genesis and caching compiled kernels...
412
+ Batch batch_013 done!
413
+
414
+ ──────────────────────────────────────────
415
+ Batch 13: batch_014 (start_episode=612, n_episodes=46)
416
+ ──────────────────────────────────────────
417
+ [Genesis] [19:47:19] [INFO] ╭───────────────────────────────────────────────╮
418
+ [Genesis] [19:47:19] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
419
+ [Genesis] [19:47:19] [INFO] ╰───────────────────────────────────────────────╯
420
+ [Genesis] [19:47:19] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
421
+ [Genesis] [19:47:19] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
422
+ [Genesis] [19:47:21] [INFO] Scene <a7ac4a2> created.
423
+ [Genesis] [19:47:21] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <c0287c3>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:47:21] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <ee49c96>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
425
+ [Genesis] [19:47:23] [INFO] Applying offset to base link's pose with user provided value in morph.
426
+ [Genesis] [19:47:25] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <1f53ff6>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
427
+ [Genesis] [19:47:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
428
+ [Genesis] [19:47:25] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <5f12d80>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
429
+ [Genesis] [19:47:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
430
+ [Genesis] [19:47:25] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
431
+ [Genesis] [19:47:25] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <3e0fe2b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
432
+ [Genesis] [19:47:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
433
+ [Genesis] [19:47:25] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
434
+ [Genesis] [19:47:25] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <0c9b203>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
435
+ [Genesis] [19:47:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
436
+ [Genesis] [19:47:25] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
437
+ [Genesis] [19:47:25] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <9f98f44>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [19:47:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [19:47:25] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [19:47:25] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <a0501ec>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [19:47:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [19:47:25] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [19:47:25] [INFO] Building scene <a7ac4a2>...
444
+ [Genesis] [19:47:27] [WARNING] Reference robot position exceeds joint limits.
445
+ [Genesis] [19:47:28] [INFO] Compiling simulation kernels...
446
+ [Genesis] [19:47:29] [INFO] Building visualizer...
447
+ next_episode=651 next_index=8418
448
+ [Genesis] [19:55:50] [INFO] 💤 Exiting Genesis and caching compiled kernels...
449
+ Batch batch_014 done!
450
+
451
+ ──────────────────────────────────────────
452
+ Batch 14: batch_015 (start_episode=658, n_episodes=46)
453
+ ──────────────────────────────────────────
454
+ [Genesis] [19:55:59] [INFO] ╭───────────────────────────────────────────────╮
455
+ [Genesis] [19:55:59] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
456
+ [Genesis] [19:55:59] [INFO] ╰───────────────────────────────────────────────╯
457
+ [Genesis] [19:55:59] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
458
+ [Genesis] [19:55:59] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
459
+ [Genesis] [19:56:02] [INFO] Scene <8c9da24> created.
460
+ [Genesis] [19:56:02] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <55f6f0b>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:56:02] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <0ee618b>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
462
+ [Genesis] [19:56:04] [INFO] Applying offset to base link's pose with user provided value in morph.
463
+ [Genesis] [19:56:06] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <2fc8587>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
464
+ [Genesis] [19:56:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
465
+ [Genesis] [19:56:06] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <f3b0954>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
466
+ [Genesis] [19:56:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
467
+ [Genesis] [19:56:06] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
468
+ [Genesis] [19:56:06] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <b048c4f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
469
+ [Genesis] [19:56:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
470
+ [Genesis] [19:56:06] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
471
+ [Genesis] [19:56:06] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <6b15586>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
472
+ [Genesis] [19:56:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
473
+ [Genesis] [19:56:06] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
474
+ [Genesis] [19:56:06] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <8cf27b4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
475
+ [Genesis] [19:56:06] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
476
+ [Genesis] [19:56:06] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
477
+ [Genesis] [19:56:06] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <96e71ee>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
478
+ [Genesis] [19:56:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
479
+ [Genesis] [19:56:07] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
480
+ [Genesis] [19:56:07] [INFO] Building scene <8c9da24>...
481
+ [Genesis] [19:56:08] [WARNING] Reference robot position exceeds joint limits.
482
+ [Genesis] [19:56:10] [INFO] Compiling simulation kernels...
483
+ [Genesis] [19:56:10] [INFO] Building visualizer...
484
+ next_episode=696 next_index=8022
485
+ [Genesis] [20:04:03] [INFO] 💤 Exiting Genesis and caching compiled kernels...
486
+ Batch batch_015 done!
487
+
488
+ ──────────────────────────────────────────
489
+ Batch 15: batch_016 (start_episode=704, n_episodes=45)
490
+ ──────────────────────────────────────────
491
+ [Genesis] [20:04:11] [INFO] ╭───────────────────────────���───────────────────╮
492
+ [Genesis] [20:04:11] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
493
+ [Genesis] [20:04:11] [INFO] ╰───────────────────────────────────────────────╯
494
+ [Genesis] [20:04:11] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
495
+ [Genesis] [20:04:11] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
496
+ [Genesis] [20:04:13] [INFO] Scene <9a331dd> created.
497
+ [Genesis] [20:04:13] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <3b74db6>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
498
+ [Genesis] [20:04:13] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <1f45bbf>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
499
+ [Genesis] [20:04:15] [INFO] Applying offset to base link's pose with user provided value in morph.
500
+ [Genesis] [20:04:16] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <e5f3acc>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
501
+ [Genesis] [20:04:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
502
+ [Genesis] [20:04:16] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <dbd14c6>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
503
+ [Genesis] [20:04:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
504
+ [Genesis] [20:04:16] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
505
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <13c8636>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
506
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
507
+ [Genesis] [20:04:17] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
508
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <c07bf32>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
509
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
510
+ [Genesis] [20:04:17] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
511
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <46cdbda>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
512
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
513
+ [Genesis] [20:04:17] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
514
+ [Genesis] [20:04:17] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <835629f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
515
+ [Genesis] [20:04:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
516
+ [Genesis] [20:04:17] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
517
+ [Genesis] [20:04:17] [INFO] Building scene <9a331dd>...
518
+ [Genesis] [20:04:19] [WARNING] Reference robot position exceeds joint limits.
519
+ [Genesis] [20:04:20] [INFO] Compiling simulation kernels...
520
+ [Genesis] [20:04:21] [INFO] Building visualizer...
521
+ next_episode=745 next_index=8344
522
+ [Genesis] [20:12:23] [INFO] 💤 Exiting Genesis and caching compiled kernels...
523
+ Batch batch_016 done!
524
+
525
+ ==========================================
526
+ Worker 3 complete!
527
+ ==========================================
meta/_logs/replay_204436_4.err ADDED
@@ -0,0 +1,471 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:50,849 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_017
2
+ 2026-03-11 19:35:56,622 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:35:58,303 [INFO] gs_gym.envs.benchgen.loader: Collected 51 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:35:58,303 [INFO] __main__: Loaded 51 trajectories for export
5
+ 2026-03-11 19:35:58,472 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:35:58,472 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:35:58,480 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:35:58,480 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:35:58,480 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:35:59,001 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:35:59,001 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:36:01,105 [INFO] genesis: Scene ~~~<<f4c4565>>~~~ created.
13
+ 2026-03-11 19:36:01,106 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<0f1fe69>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:36:01,155 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:36:01,982 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<c75a480>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:36:03,320 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:36:03,363 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:03,802 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:04,182 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:04,867 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:05,749 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:06,432 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:06,879 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:07,561 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:08,269 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:08,668 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:09,235 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:10,006 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:10,591 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:11,393 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:12,486 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:13,012 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<cfcbefc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:13,033 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:13,047 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:13,438 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<58cbee4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:13,510 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:13,528 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:13,540 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:22,504 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:23,171 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:23,764 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:24,328 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<95e8f7b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:24,421 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:24,448 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:24,462 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:33,513 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:33,622 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:33,758 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:33,982 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:34,064 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:34,221 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<c0cb48e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:34,311 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:34,325 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:34,333 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:36:41,049 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:36:41,376 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:36:41,825 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:36:42,325 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:36:42,431 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:36:42,773 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<97bf000>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:36:42,880 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:36:42,950 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:36:42,979 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:37:02,678 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:37:02,997 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:37:03,272 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:37:03,597 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:37:03,680 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:37:03,775 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:37:04,096 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:37:04,420 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:37:04,755 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:37:05,117 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:05,575 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:05,841 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:06,086 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:06,327 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:06,577 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:06,672 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:06,996 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<73146b5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:07,087 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:07,106 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:07,112 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:15,026 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:15,116 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:15,588 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:15,664 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:15,735 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:15,840 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:15,924 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:15,980 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:16,071 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:16,130 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:16,536 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:16,592 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:16,817 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:16,875 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:16,927 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:17,190 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:17,257 [INFO] genesis: Building scene ~~~<<f4c4565>>~~~...
113
+ 2026-03-11 19:37:19,675 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:24,564 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:37:42,550 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:37:42,758 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:37:43,228 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:37:43,228 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:37:53,613 [INFO] gs_gym.envs.benchgen.export: Saved episode 749: 166 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:05,781 [INFO] gs_gym.envs.benchgen.export: Saved episode 750: 245 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:16,548 [INFO] gs_gym.envs.benchgen.export: Saved episode 751: 214 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:24,586 [INFO] gs_gym.envs.benchgen.export: Saved episode 752: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
123
+ 2026-03-11 19:38:40,169 [INFO] gs_gym.envs.benchgen.export: Saved episode 753: 231 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
124
+ 2026-03-11 19:38:54,280 [INFO] gs_gym.envs.benchgen.export: Saved episode 754: 223 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
125
+ 2026-03-11 19:39:02,636 [INFO] gs_gym.envs.benchgen.export: Saved episode 755: 169 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
126
+ 2026-03-11 19:39:11,603 [INFO] gs_gym.envs.benchgen.export: Saved episode 756: 171 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
127
+ 2026-03-11 19:39:20,866 [INFO] gs_gym.envs.benchgen.export: Saved episode 757: 162 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
128
+ 2026-03-11 19:39:36,738 [INFO] gs_gym.envs.benchgen.export: Saved episode 758: 264 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
129
+ 2026-03-11 19:39:49,705 [INFO] gs_gym.envs.benchgen.export: Saved episode 759: 228 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
130
+ 2026-03-11 19:40:02,102 [INFO] gs_gym.envs.benchgen.export: Saved episode 760: 238 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
131
+ 2026-03-11 19:40:14,554 [INFO] gs_gym.envs.benchgen.export: Saved episode 761: 238 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
132
+ 2026-03-11 19:40:25,899 [INFO] gs_gym.envs.benchgen.export: Saved episode 762: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
133
+ 2026-03-11 19:40:28,277 [INFO] gs_gym.envs.benchgen.export: Skipped episode 763: upside-down gripper detected, task='Pick up the banana and place it in the basket'
134
+ 2026-03-11 19:40:40,547 [INFO] gs_gym.envs.benchgen.export: Saved episode 763: 240 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
135
+ 2026-03-11 19:40:44,458 [INFO] gs_gym.envs.benchgen.export: Skipped episode 764: upside-down gripper detected, task='Pick up the banana and place it in the basket'
136
+ 2026-03-11 19:40:58,322 [INFO] gs_gym.envs.benchgen.export: Saved episode 764: 252 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
137
+ 2026-03-11 19:41:07,499 [INFO] gs_gym.envs.benchgen.export: Saved episode 765: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
138
+ 2026-03-11 19:41:16,591 [INFO] gs_gym.envs.benchgen.export: Saved episode 766: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
139
+ 2026-03-11 19:41:27,266 [INFO] gs_gym.envs.benchgen.export: Saved episode 767: 218 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:35,477 [INFO] gs_gym.envs.benchgen.export: Saved episode 768: 175 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:41:44,126 [INFO] gs_gym.envs.benchgen.export: Skipped episode 769: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:41:52,538 [INFO] gs_gym.envs.benchgen.export: Saved episode 769: 181 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:06,061 [INFO] gs_gym.envs.benchgen.export: Saved episode 770: 274 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:18,075 [INFO] gs_gym.envs.benchgen.export: Saved episode 771: 248 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:30,545 [INFO] gs_gym.envs.benchgen.export: Saved episode 772: 225 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:44,336 [INFO] gs_gym.envs.benchgen.export: Saved episode 773: 213 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:42:50,015 [INFO] gs_gym.envs.benchgen.export: Skipped episode 774: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:43:03,628 [INFO] gs_gym.envs.benchgen.export: Saved episode 774: 231 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:16,871 [INFO] gs_gym.envs.benchgen.export: Saved episode 775: 253 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:29,017 [INFO] gs_gym.envs.benchgen.export: Saved episode 776: 244 frames (12 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:38,222 [INFO] gs_gym.envs.benchgen.export: Saved episode 777: 154 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:48,077 [INFO] gs_gym.envs.benchgen.export: Saved episode 778: 178 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:43:59,420 [INFO] gs_gym.envs.benchgen.export: Saved episode 779: 207 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:07,201 [INFO] gs_gym.envs.benchgen.export: Saved episode 780: 149 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:18,648 [INFO] gs_gym.envs.benchgen.export: Saved episode 781: 235 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:27,691 [INFO] gs_gym.envs.benchgen.export: Saved episode 782: 171 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:37,956 [INFO] gs_gym.envs.benchgen.export: Saved episode 783: 169 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:49,754 [INFO] gs_gym.envs.benchgen.export: Saved episode 784: 227 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:44:53,506 [INFO] gs_gym.envs.benchgen.export: Skipped episode 785: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:45:06,777 [INFO] gs_gym.envs.benchgen.export: Saved episode 785: 232 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:15,078 [INFO] gs_gym.envs.benchgen.export: Saved episode 786: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:26,611 [INFO] gs_gym.envs.benchgen.export: Saved episode 787: 237 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:37,459 [INFO] gs_gym.envs.benchgen.export: Saved episode 788: 217 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:45:45,718 [INFO] gs_gym.envs.benchgen.export: Saved episode 789: 170 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
165
+ 2026-03-11 19:45:49,722 [INFO] gs_gym.envs.benchgen.export: Skipped episode 790: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:46:02,508 [INFO] gs_gym.envs.benchgen.export: Saved episode 790: 265 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
167
+ 2026-03-11 19:46:14,061 [INFO] gs_gym.envs.benchgen.export: Saved episode 791: 230 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:46:22,413 [INFO] gs_gym.envs.benchgen.export: Saved episode 792: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
169
+ 2026-03-11 19:46:34,763 [INFO] gs_gym.envs.benchgen.export: Saved episode 793: 243 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
170
+ 2026-03-11 19:46:34,765 [INFO] __main__: Export complete: 45 episodes, 9426 frames
171
+ 2026-03-11 19:46:34,765 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
172
+ 2026-03-11 19:46:34,769 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
173
+ 2026-03-11 19:46:36,795 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_018
174
+ 2026-03-11 19:46:43,845 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
175
+ 2026-03-11 19:46:46,150 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
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+ 2026-03-11 19:46:46,150 [INFO] __main__: Loaded 45 trajectories for export
177
+ 2026-03-11 19:46:46,414 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
178
+ 2026-03-11 19:46:46,415 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
179
+ 2026-03-11 19:46:46,424 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
180
+ 2026-03-11 19:46:46,424 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
181
+ 2026-03-11 19:46:46,424 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
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+ 2026-03-11 19:46:46,740 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
183
+ 2026-03-11 19:46:46,740 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
184
+ 2026-03-11 19:46:49,916 [INFO] genesis: Scene ~~~<<09edfcf>>~~~ created.
185
+ 2026-03-11 19:46:49,916 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<e99c45e>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
186
+ 2026-03-11 19:46:50,019 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<9698f4f>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
187
+ 2026-03-11 19:46:51,960 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
188
+ 2026-03-11 19:46:54,070 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<1625418>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
189
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
190
+ warnings.warn("pygltflib currently does not remove image data "
191
+ 2026-03-11 19:46:54,101 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
192
+ 2026-03-11 19:46:54,118 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<497bfa7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
193
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
194
+ warnings.warn("pygltflib currently does not remove image data "
195
+ 2026-03-11 19:46:54,204 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
196
+ 2026-03-11 19:46:54,226 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
197
+ 2026-03-11 19:46:54,266 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<b03ccf5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
198
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
199
+ warnings.warn("pygltflib currently does not remove image data "
200
+ 2026-03-11 19:46:54,361 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
201
+ 2026-03-11 19:46:54,391 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
202
+ 2026-03-11 19:46:54,451 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<7082c0b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
203
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
204
+ warnings.warn("pygltflib currently does not remove image data "
205
+ 2026-03-11 19:46:54,549 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
206
+ 2026-03-11 19:46:54,567 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
207
+ 2026-03-11 19:46:54,618 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<c1cccce>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
208
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
209
+ warnings.warn("pygltflib currently does not remove image data "
210
+ 2026-03-11 19:46:54,738 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
211
+ 2026-03-11 19:46:54,817 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
212
+ 2026-03-11 19:46:54,932 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<01dd0d1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
213
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
214
+ warnings.warn("pygltflib currently does not remove image data "
215
+ 2026-03-11 19:46:55,024 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
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+ 2026-03-11 19:46:55,038 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
217
+ 2026-03-11 19:46:55,124 [INFO] genesis: Building scene ~~~<<09edfcf>>~~~...
218
+ 2026-03-11 19:46:56,835 [WARNING] genesis: Reference robot position exceeds joint limits.
219
+ 2026-03-11 19:46:58,229 [INFO] genesis: Compiling simulation kernels...
220
+ 2026-03-11 19:46:59,041 [INFO] genesis: Building visualizer...
221
+ 2026-03-11 19:46:59,270 [INFO] __main__: Environment created successfully
222
+ 2026-03-11 19:47:00,035 [INFO] __main__: Loaded pre-built task map with 1 tasks
223
+ 2026-03-11 19:47:00,036 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
224
+ 2026-03-11 19:47:10,312 [INFO] gs_gym.envs.benchgen.export: Saved episode 800: 173 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:18,032 [INFO] gs_gym.envs.benchgen.export: Saved episode 801: 159 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:31,530 [INFO] gs_gym.envs.benchgen.export: Saved episode 802: 281 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:47,149 [INFO] gs_gym.envs.benchgen.export: Saved episode 803: 300 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:56,339 [INFO] gs_gym.envs.benchgen.export: Saved episode 804: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:06,795 [INFO] gs_gym.envs.benchgen.export: Saved episode 805: 207 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:20,882 [INFO] gs_gym.envs.benchgen.export: Saved episode 806: 296 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:29,577 [INFO] gs_gym.envs.benchgen.export: Skipped episode 807: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:48:37,908 [INFO] gs_gym.envs.benchgen.export: Saved episode 807: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:49,019 [INFO] gs_gym.envs.benchgen.export: Saved episode 808: 220 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:56,846 [INFO] gs_gym.envs.benchgen.export: Saved episode 809: 153 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
235
+ 2026-03-11 19:49:10,192 [INFO] gs_gym.envs.benchgen.export: Saved episode 810: 260 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
236
+ 2026-03-11 19:49:18,992 [INFO] gs_gym.envs.benchgen.export: Saved episode 811: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
237
+ 2026-03-11 19:49:28,093 [INFO] gs_gym.envs.benchgen.export: Saved episode 812: 172 frames, task='Pick up the banana and place it in the basket', success=True
238
+ 2026-03-11 19:49:36,878 [INFO] gs_gym.envs.benchgen.export: Saved episode 813: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
239
+ 2026-03-11 19:49:50,741 [INFO] gs_gym.envs.benchgen.export: Saved episode 814: 230 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
240
+ 2026-03-11 19:50:04,895 [INFO] gs_gym.envs.benchgen.export: Saved episode 815: 241 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
241
+ 2026-03-11 19:50:14,131 [INFO] gs_gym.envs.benchgen.export: Saved episode 816: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
242
+ 2026-03-11 19:50:21,824 [INFO] gs_gym.envs.benchgen.export: Saved episode 817: 152 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
243
+ 2026-03-11 19:50:32,906 [INFO] gs_gym.envs.benchgen.export: Saved episode 818: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
244
+ 2026-03-11 19:50:41,402 [INFO] gs_gym.envs.benchgen.export: Saved episode 819: 161 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
245
+ 2026-03-11 19:50:48,869 [INFO] gs_gym.envs.benchgen.export: Saved episode 820: 148 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
246
+ 2026-03-11 19:50:57,296 [INFO] gs_gym.envs.benchgen.export: Saved episode 821: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
247
+ 2026-03-11 19:51:05,272 [INFO] gs_gym.envs.benchgen.export: Saved episode 822: 160 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
248
+ 2026-03-11 19:51:13,274 [INFO] gs_gym.envs.benchgen.export: Saved episode 823: 156 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
249
+ 2026-03-11 19:51:39,836 [INFO] gs_gym.envs.benchgen.export: Saved episode 824: 562 frames (20 static removed), task='Pick up the banana and place it in the basket', success=True
250
+ 2026-03-11 19:51:47,803 [INFO] gs_gym.envs.benchgen.export: Skipped episode 825: upside-down gripper detected, task='Pick up the banana and place it in the basket'
251
+ 2026-03-11 19:52:00,176 [INFO] gs_gym.envs.benchgen.export: Saved episode 825: 230 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
252
+ 2026-03-11 19:52:10,594 [INFO] gs_gym.envs.benchgen.export: Saved episode 826: 213 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
253
+ 2026-03-11 19:52:21,478 [INFO] gs_gym.envs.benchgen.export: Saved episode 827: 206 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
254
+ 2026-03-11 19:52:34,713 [INFO] gs_gym.envs.benchgen.export: Saved episode 828: 229 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
255
+ 2026-03-11 19:52:43,189 [INFO] gs_gym.envs.benchgen.export: Saved episode 829: 155 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
256
+ 2026-03-11 19:52:51,550 [INFO] gs_gym.envs.benchgen.export: Saved episode 830: 156 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
257
+ 2026-03-11 19:52:59,352 [INFO] gs_gym.envs.benchgen.export: Saved episode 831: 154 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
258
+ 2026-03-11 19:53:07,493 [INFO] gs_gym.envs.benchgen.export: Saved episode 832: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
259
+ 2026-03-11 19:53:20,321 [INFO] gs_gym.envs.benchgen.export: Saved episode 833: 245 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
260
+ 2026-03-11 19:53:35,133 [INFO] gs_gym.envs.benchgen.export: Saved episode 834: 251 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
261
+ 2026-03-11 19:53:47,023 [INFO] gs_gym.envs.benchgen.export: Saved episode 835: 223 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
262
+ 2026-03-11 19:53:55,892 [INFO] gs_gym.envs.benchgen.export: Saved episode 836: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
263
+ 2026-03-11 19:54:07,070 [INFO] gs_gym.envs.benchgen.export: Saved episode 837: 158 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
264
+ 2026-03-11 19:54:17,006 [INFO] gs_gym.envs.benchgen.export: Saved episode 838: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
265
+ 2026-03-11 19:54:25,605 [INFO] gs_gym.envs.benchgen.export: Saved episode 839: 165 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
266
+ 2026-03-11 19:54:38,715 [INFO] gs_gym.envs.benchgen.export: Saved episode 840: 262 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
267
+ 2026-03-11 19:54:42,472 [INFO] gs_gym.envs.benchgen.export: Skipped episode 841: upside-down gripper detected, task='Pick up the banana and place it in the basket'
268
+ 2026-03-11 19:54:53,968 [INFO] gs_gym.envs.benchgen.export: Saved episode 841: 221 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
269
+ 2026-03-11 19:54:53,969 [INFO] __main__: Export complete: 42 episodes, 8587 frames
270
+ 2026-03-11 19:54:53,969 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
271
+ 2026-03-11 19:54:53,973 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
272
+ 2026-03-11 19:54:55,282 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_019
273
+ 2026-03-11 19:55:00,702 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
274
+ 2026-03-11 19:55:02,500 [INFO] gs_gym.envs.benchgen.loader: Collected 52 trajectories (success only) from 64 trials
275
+ 2026-03-11 19:55:02,500 [INFO] __main__: Loaded 52 trajectories for export
276
+ 2026-03-11 19:55:02,675 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
277
+ 2026-03-11 19:55:02,675 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
278
+ 2026-03-11 19:55:02,683 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
279
+ 2026-03-11 19:55:02,683 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
280
+ 2026-03-11 19:55:02,683 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
281
+ 2026-03-11 19:55:02,957 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
282
+ 2026-03-11 19:55:02,957 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
283
+ 2026-03-11 19:55:05,248 [INFO] genesis: Scene ~~~<<9396402>>~~~ created.
284
+ 2026-03-11 19:55:05,248 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<8d6a281>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
285
+ 2026-03-11 19:55:05,327 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<e639749>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
286
+ 2026-03-11 19:55:06,718 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
287
+ 2026-03-11 19:55:08,503 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<33c2523>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
288
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
289
+ warnings.warn("pygltflib currently does not remove image data "
290
+ 2026-03-11 19:55:08,529 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
291
+ 2026-03-11 19:55:08,545 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<6787d11>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
292
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
293
+ warnings.warn("pygltflib currently does not remove image data "
294
+ 2026-03-11 19:55:08,617 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
295
+ 2026-03-11 19:55:08,636 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
296
+ 2026-03-11 19:55:08,673 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<545418e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
297
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
298
+ warnings.warn("pygltflib currently does not remove image data "
299
+ 2026-03-11 19:55:08,765 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
300
+ 2026-03-11 19:55:08,792 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
301
+ 2026-03-11 19:55:08,848 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<cb7cc8c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
302
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
303
+ warnings.warn("pygltflib currently does not remove image data "
304
+ 2026-03-11 19:55:08,938 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
305
+ 2026-03-11 19:55:08,956 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
306
+ 2026-03-11 19:55:09,001 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<b8e2023>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
307
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
308
+ warnings.warn("pygltflib currently does not remove image data "
309
+ 2026-03-11 19:55:09,109 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
310
+ 2026-03-11 19:55:09,178 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
311
+ 2026-03-11 19:55:09,270 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<9dacf07>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
312
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
313
+ warnings.warn("pygltflib currently does not remove image data "
314
+ 2026-03-11 19:55:09,356 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
315
+ 2026-03-11 19:55:09,370 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
316
+ 2026-03-11 19:55:09,434 [INFO] genesis: Building scene ~~~<<9396402>>~~~...
317
+ 2026-03-11 19:55:11,061 [WARNING] genesis: Reference robot position exceeds joint limits.
318
+ 2026-03-11 19:55:12,298 [INFO] genesis: Compiling simulation kernels...
319
+ 2026-03-11 19:55:12,990 [INFO] genesis: Building visualizer...
320
+ 2026-03-11 19:55:13,189 [INFO] __main__: Environment created successfully
321
+ 2026-03-11 19:55:13,860 [INFO] __main__: Loaded pre-built task map with 1 tasks
322
+ 2026-03-11 19:55:13,860 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
323
+ 2026-03-11 19:55:17,915 [INFO] gs_gym.envs.benchgen.export: Skipped episode 845: upside-down gripper detected, task='Pick up the banana and place it in the basket'
324
+ 2026-03-11 19:55:26,241 [INFO] gs_gym.envs.benchgen.export: Saved episode 845: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
325
+ 2026-03-11 19:55:28,464 [INFO] gs_gym.envs.benchgen.export: Skipped episode 846: upside-down gripper detected, task='Pick up the banana and place it in the basket'
326
+ 2026-03-11 19:55:40,543 [INFO] gs_gym.envs.benchgen.export: Saved episode 846: 234 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
327
+ 2026-03-11 19:55:51,349 [INFO] gs_gym.envs.benchgen.export: Saved episode 847: 220 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
328
+ 2026-03-11 19:55:59,604 [INFO] gs_gym.envs.benchgen.export: Saved episode 848: 158 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
329
+ 2026-03-11 19:56:07,347 [INFO] gs_gym.envs.benchgen.export: Saved episode 849: 153 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
330
+ 2026-03-11 19:56:15,879 [INFO] gs_gym.envs.benchgen.export: Saved episode 850: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
331
+ 2026-03-11 19:56:24,365 [INFO] gs_gym.envs.benchgen.export: Saved episode 851: 171 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
332
+ 2026-03-11 19:56:35,832 [INFO] gs_gym.envs.benchgen.export: Saved episode 852: 229 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
333
+ 2026-03-11 19:56:46,583 [INFO] gs_gym.envs.benchgen.export: Saved episode 853: 183 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:56:54,965 [INFO] gs_gym.envs.benchgen.export: Saved episode 854: 161 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
335
+ 2026-03-11 19:57:03,837 [INFO] gs_gym.envs.benchgen.export: Saved episode 855: 180 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:57:11,692 [INFO] gs_gym.envs.benchgen.export: Saved episode 856: 164 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
337
+ 2026-03-11 19:57:22,333 [INFO] gs_gym.envs.benchgen.export: Saved episode 857: 214 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
338
+ 2026-03-11 19:57:32,165 [INFO] gs_gym.envs.benchgen.export: Saved episode 858: 188 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
339
+ 2026-03-11 19:57:46,264 [INFO] gs_gym.envs.benchgen.export: Saved episode 859: 211 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
340
+ 2026-03-11 19:57:55,521 [INFO] gs_gym.envs.benchgen.export: Saved episode 860: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
341
+ 2026-03-11 19:58:03,489 [INFO] gs_gym.envs.benchgen.export: Saved episode 861: 152 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
342
+ 2026-03-11 19:58:11,561 [INFO] gs_gym.envs.benchgen.export: Saved episode 862: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
343
+ 2026-03-11 19:58:19,777 [INFO] gs_gym.envs.benchgen.export: Saved episode 863: 163 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
344
+ 2026-03-11 19:58:33,365 [INFO] gs_gym.envs.benchgen.export: Saved episode 864: 231 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
345
+ 2026-03-11 19:58:41,838 [INFO] gs_gym.envs.benchgen.export: Saved episode 865: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
346
+ 2026-03-11 19:58:49,343 [INFO] gs_gym.envs.benchgen.export: Saved episode 866: 153 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
347
+ 2026-03-11 19:59:03,049 [INFO] gs_gym.envs.benchgen.export: Saved episode 867: 266 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
348
+ 2026-03-11 19:59:14,839 [INFO] gs_gym.envs.benchgen.export: Saved episode 868: 236 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
349
+ 2026-03-11 19:59:23,006 [INFO] gs_gym.envs.benchgen.export: Saved episode 869: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 19:59:31,258 [INFO] gs_gym.envs.benchgen.export: Saved episode 870: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
351
+ 2026-03-11 19:59:39,326 [INFO] gs_gym.envs.benchgen.export: Saved episode 871: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
352
+ 2026-03-11 19:59:42,881 [INFO] gs_gym.envs.benchgen.export: Skipped episode 872: upside-down gripper detected, task='Pick up the banana and place it in the basket'
353
+ 2026-03-11 19:59:55,310 [INFO] gs_gym.envs.benchgen.export: Saved episode 872: 233 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
354
+ 2026-03-11 20:00:03,623 [INFO] gs_gym.envs.benchgen.export: Saved episode 873: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:00:15,332 [INFO] gs_gym.envs.benchgen.export: Saved episode 874: 224 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:00:24,089 [INFO] gs_gym.envs.benchgen.export: Saved episode 875: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
357
+ 2026-03-11 20:00:32,941 [INFO] gs_gym.envs.benchgen.export: Saved episode 876: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
358
+ 2026-03-11 20:00:36,945 [INFO] gs_gym.envs.benchgen.export: Skipped episode 877: upside-down gripper detected, task='Pick up the banana and place it in the basket'
359
+ 2026-03-11 20:00:41,006 [INFO] gs_gym.envs.benchgen.export: Skipped episode 877: upside-down gripper detected, task='Pick up the banana and place it in the basket'
360
+ 2026-03-11 20:00:55,276 [INFO] gs_gym.envs.benchgen.export: Saved episode 877: 232 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
361
+ 2026-03-11 20:01:03,491 [INFO] gs_gym.envs.benchgen.export: Saved episode 878: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
362
+ 2026-03-11 20:01:13,928 [INFO] gs_gym.envs.benchgen.export: Saved episode 879: 162 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
363
+ 2026-03-11 20:01:23,102 [INFO] gs_gym.envs.benchgen.export: Saved episode 880: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
364
+ 2026-03-11 20:01:36,774 [INFO] gs_gym.envs.benchgen.export: Saved episode 881: 250 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
365
+ 2026-03-11 20:01:50,108 [INFO] gs_gym.envs.benchgen.export: Saved episode 882: 253 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
366
+ 2026-03-11 20:02:00,524 [INFO] gs_gym.envs.benchgen.export: Saved episode 883: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
367
+ 2026-03-11 20:02:09,470 [INFO] gs_gym.envs.benchgen.export: Saved episode 884: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
368
+ 2026-03-11 20:02:19,159 [INFO] gs_gym.envs.benchgen.export: Skipped episode 885: upside-down gripper detected, task='Pick up the banana and place it in the basket'
369
+ 2026-03-11 20:02:23,063 [INFO] gs_gym.envs.benchgen.export: Skipped episode 885: upside-down gripper detected, task='Pick up the banana and place it in the basket'
370
+ 2026-03-11 20:02:36,401 [INFO] gs_gym.envs.benchgen.export: Saved episode 885: 224 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
371
+ 2026-03-11 20:02:46,655 [INFO] gs_gym.envs.benchgen.export: Saved episode 886: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
372
+ 2026-03-11 20:03:00,500 [INFO] gs_gym.envs.benchgen.export: Saved episode 887: 250 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
373
+ 2026-03-11 20:03:12,750 [INFO] gs_gym.envs.benchgen.export: Saved episode 888: 235 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
374
+ 2026-03-11 20:03:21,438 [INFO] gs_gym.envs.benchgen.export: Saved episode 889: 172 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
375
+ 2026-03-11 20:03:21,439 [INFO] __main__: Export complete: 45 episodes, 8558 frames
376
+ 2026-03-11 20:03:21,439 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
377
+ 2026-03-11 20:03:21,443 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
378
+ 2026-03-11 20:03:22,744 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_020
379
+ 2026-03-11 20:03:27,586 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
380
+ 2026-03-11 20:03:29,526 [INFO] gs_gym.envs.benchgen.loader: Collected 40 trajectories (success only) from 64 trials
381
+ 2026-03-11 20:03:29,526 [INFO] __main__: Loaded 40 trajectories for export
382
+ 2026-03-11 20:03:29,711 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
383
+ 2026-03-11 20:03:29,711 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
384
+ 2026-03-11 20:03:29,719 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
385
+ 2026-03-11 20:03:29,719 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
386
+ 2026-03-11 20:03:29,719 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
387
+ 2026-03-11 20:03:29,996 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
388
+ 2026-03-11 20:03:29,996 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
389
+ 2026-03-11 20:03:32,281 [INFO] genesis: Scene ~~~<<96bea09>>~~~ created.
390
+ 2026-03-11 20:03:32,281 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<729cce2>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
391
+ 2026-03-11 20:03:32,360 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<fb8587c>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
392
+ 2026-03-11 20:03:33,758 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
393
+ 2026-03-11 20:03:35,535 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<082afb5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
394
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
395
+ warnings.warn("pygltflib currently does not remove image data "
396
+ 2026-03-11 20:03:35,562 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
397
+ 2026-03-11 20:03:35,576 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<67da278>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
398
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
399
+ warnings.warn("pygltflib currently does not remove image data "
400
+ 2026-03-11 20:03:35,647 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
401
+ 2026-03-11 20:03:35,664 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
402
+ 2026-03-11 20:03:35,699 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<7793804>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
403
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
404
+ warnings.warn("pygltflib currently does not remove image data "
405
+ 2026-03-11 20:03:35,791 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
406
+ 2026-03-11 20:03:35,819 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
407
+ 2026-03-11 20:03:35,870 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<df79485>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
408
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
409
+ warnings.warn("pygltflib currently does not remove image data "
410
+ 2026-03-11 20:03:35,959 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
411
+ 2026-03-11 20:03:35,974 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
412
+ 2026-03-11 20:03:36,018 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<e7de36f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
413
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
414
+ warnings.warn("pygltflib currently does not remove image data "
415
+ 2026-03-11 20:03:36,124 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
416
+ 2026-03-11 20:03:36,191 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
417
+ 2026-03-11 20:03:36,281 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<9403236>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
418
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
419
+ warnings.warn("pygltflib currently does not remove image data "
420
+ 2026-03-11 20:03:36,362 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
421
+ 2026-03-11 20:03:36,376 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
422
+ 2026-03-11 20:03:36,439 [INFO] genesis: Building scene ~~~<<96bea09>>~~~...
423
+ 2026-03-11 20:03:38,061 [WARNING] genesis: Reference robot position exceeds joint limits.
424
+ 2026-03-11 20:03:39,240 [INFO] genesis: Compiling simulation kernels...
425
+ 2026-03-11 20:03:39,950 [INFO] genesis: Building visualizer...
426
+ 2026-03-11 20:03:40,144 [INFO] __main__: Environment created successfully
427
+ 2026-03-11 20:03:40,720 [INFO] __main__: Loaded pre-built task map with 1 tasks
428
+ 2026-03-11 20:03:40,720 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
429
+ 2026-03-11 20:03:49,517 [INFO] gs_gym.envs.benchgen.export: Saved episode 897: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
430
+ 2026-03-11 20:04:02,363 [INFO] gs_gym.envs.benchgen.export: Saved episode 898: 271 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
431
+ 2026-03-11 20:04:10,745 [INFO] gs_gym.envs.benchgen.export: Saved episode 899: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
432
+ 2026-03-11 20:04:19,242 [INFO] gs_gym.envs.benchgen.export: Saved episode 900: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
433
+ 2026-03-11 20:04:31,343 [INFO] gs_gym.envs.benchgen.export: Saved episode 901: 243 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
434
+ 2026-03-11 20:04:39,926 [INFO] gs_gym.envs.benchgen.export: Saved episode 902: 164 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
435
+ 2026-03-11 20:04:52,009 [INFO] gs_gym.envs.benchgen.export: Saved episode 903: 223 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
436
+ 2026-03-11 20:05:05,771 [INFO] gs_gym.envs.benchgen.export: Saved episode 904: 222 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
437
+ 2026-03-11 20:05:18,088 [INFO] gs_gym.envs.benchgen.export: Saved episode 905: 202 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
438
+ 2026-03-11 20:05:30,444 [INFO] gs_gym.envs.benchgen.export: Saved episode 906: 238 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
439
+ 2026-03-11 20:05:42,896 [INFO] gs_gym.envs.benchgen.export: Saved episode 907: 218 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
440
+ 2026-03-11 20:05:52,297 [INFO] gs_gym.envs.benchgen.export: Saved episode 908: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
441
+ 2026-03-11 20:06:04,726 [INFO] gs_gym.envs.benchgen.export: Saved episode 909: 244 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
442
+ 2026-03-11 20:06:36,315 [INFO] gs_gym.envs.benchgen.export: Saved episode 910: 555 frames (21 static removed), task='Pick up the banana and place it in the basket', success=True
443
+ 2026-03-11 20:06:47,214 [INFO] gs_gym.envs.benchgen.export: Saved episode 911: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
444
+ 2026-03-11 20:07:01,054 [INFO] gs_gym.envs.benchgen.export: Saved episode 912: 220 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
445
+ 2026-03-11 20:07:09,149 [INFO] gs_gym.envs.benchgen.export: Skipped episode 913: upside-down gripper detected, task='Pick up the banana and place it in the basket'
446
+ 2026-03-11 20:07:22,599 [INFO] gs_gym.envs.benchgen.export: Saved episode 913: 269 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
447
+ 2026-03-11 20:07:35,284 [INFO] gs_gym.envs.benchgen.export: Saved episode 914: 237 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
448
+ 2026-03-11 20:07:45,872 [INFO] gs_gym.envs.benchgen.export: Saved episode 915: 186 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
449
+ 2026-03-11 20:07:54,972 [INFO] gs_gym.envs.benchgen.export: Saved episode 916: 172 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
450
+ 2026-03-11 20:08:07,548 [INFO] gs_gym.envs.benchgen.export: Saved episode 917: 265 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
451
+ 2026-03-11 20:08:19,624 [INFO] gs_gym.envs.benchgen.export: Saved episode 918: 229 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
452
+ 2026-03-11 20:08:27,858 [INFO] gs_gym.envs.benchgen.export: Saved episode 919: 177 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
453
+ 2026-03-11 20:08:39,585 [INFO] gs_gym.envs.benchgen.export: Saved episode 920: 215 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
454
+ 2026-03-11 20:08:51,330 [INFO] gs_gym.envs.benchgen.export: Saved episode 921: 218 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
455
+ 2026-03-11 20:09:04,747 [INFO] gs_gym.envs.benchgen.export: Saved episode 922: 259 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
456
+ 2026-03-11 20:09:13,779 [INFO] gs_gym.envs.benchgen.export: Saved episode 923: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
457
+ 2026-03-11 20:09:23,323 [INFO] gs_gym.envs.benchgen.export: Saved episode 924: 161 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
458
+ 2026-03-11 20:09:32,189 [INFO] gs_gym.envs.benchgen.export: Skipped episode 925: upside-down gripper detected, task='Pick up the banana and place it in the basket'
459
+ 2026-03-11 20:09:43,164 [INFO] gs_gym.envs.benchgen.export: Saved episode 925: 210 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
460
+ 2026-03-11 20:10:01,185 [INFO] gs_gym.envs.benchgen.export: Saved episode 926: 229 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
461
+ 2026-03-11 20:10:12,873 [INFO] gs_gym.envs.benchgen.export: Saved episode 927: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
462
+ 2026-03-11 20:10:24,606 [INFO] gs_gym.envs.benchgen.export: Saved episode 928: 235 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
463
+ 2026-03-11 20:10:35,539 [INFO] gs_gym.envs.benchgen.export: Saved episode 929: 215 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
464
+ 2026-03-11 20:10:49,880 [INFO] gs_gym.envs.benchgen.export: Saved episode 930: 253 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
465
+ 2026-03-11 20:11:08,353 [INFO] gs_gym.envs.benchgen.export: Saved episode 931: 242 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
466
+ 2026-03-11 20:11:24,314 [INFO] gs_gym.envs.benchgen.export: Saved episode 932: 280 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
467
+ 2026-03-11 20:11:32,496 [INFO] gs_gym.envs.benchgen.export: Saved episode 933: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
468
+ 2026-03-11 20:11:44,373 [INFO] gs_gym.envs.benchgen.export: Saved episode 934: 221 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
469
+ 2026-03-11 20:11:44,374 [INFO] __main__: Export complete: 38 episodes, 8373 frames
470
+ 2026-03-11 20:11:44,374 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
471
+ 2026-03-11 20:11:44,377 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_4.out ADDED
@@ -0,0 +1,527 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 4/8: batches [16 17 18 19]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 16: batch_017 (start_episode=749, n_episodes=51)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:35:58] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:35:58] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:35:58] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:35:59] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:35:59] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:36:01] [INFO] Scene <f4c4565> created.
14
+ [Genesis] [19:36:01] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <0f1fe69>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:36:01] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:36:01] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <c75a480>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:36:03] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:36:03] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:03] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:04] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:04] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:05] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:06] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:06] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:07] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:08] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:08] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:09] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:10] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:10] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:11] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:13] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <cfcbefc>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:13] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:13] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:13] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <58cbee4>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:13] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:13] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:13] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:13.540] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:13.541] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:13.541] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:13.541] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:13.541] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:13.541] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:13.541] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:13.541] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:13.541] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:13.541] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:13.541] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:13.541] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:13.541] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:13.541] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:13.541] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:13.541] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:13.543] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:13.543] [CoACD] [info] Manifold Check Time: 0.001919s
58
+ [2026-03-11 19:36:13.543] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:13.543] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:13.543] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:13.569] [CoACD] [info] Preprocess Time: 0.335659s
62
+ [2026-03-11 19:36:13.569] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:13.569] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:13.569] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:13.569] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:13.570] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:17.669] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:17.669] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:17.669] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:17.669] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:20.075] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:20.075] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:20.075] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 19:36:20.075] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 19:36:20.092] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:20.092] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:20.174] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:22.481] [CoACD] [info] Compute Time: 8.9110963139683s
79
+ [2026-03-11 19:36:22.481] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:22] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:23] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:23] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:24] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <95e8f7b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:24] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:24] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:24.463] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:24.463] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:24.463] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:24.463] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:24.463] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:24.463] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:24.463] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:24.463] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:24.463] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:24.463] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:24.463] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:24.463] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:24.463] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:24.463] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:24.463] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:24.463] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:24.470] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:24.470] [CoACD] [info] Manifold Check Time: 0.006275s
105
+ [2026-03-11 19:36:24.471] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:24.471] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:24.471] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:24.502] [CoACD] [info] Preprocess Time: 0.483396s
109
+ [2026-03-11 19:36:24.502] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:24.502] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:24.502] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:24.502] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:24.502] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:28.416] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:28.416] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:28.416] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:28.416] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:31.577] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:31.577] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:31.577] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:31.577] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:31.577] [CoACD] [info] Processing [75.0%]
123
+ [2026-03-11 19:36:31.577] [CoACD] [info] Processing [25.0%]
124
+ [2026-03-11 19:36:32.996] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:32.996] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:32.996] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:32.996] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:33.006] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:33.007] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:33.140] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:33.478] [CoACD] [info] Compute Time: 8.97612913325429s
132
+ [2026-03-11 19:36:33.478] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:33] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:33] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:33] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:33] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:34] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:34] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <c0cb48e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:34] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:34] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:34] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:34.334] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:34.334] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:34.334] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:34.334] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:34.334] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:34.334] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:34.334] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:34.334] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:34.334] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:34.334] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:34.334] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:34.334] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:34.334] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:34.334] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:34.334] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:34.334] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:34.336] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:34.336] [CoACD] [info] Manifold Check Time: 0.002264s
160
+ [2026-03-11 19:36:34.337] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:34.337] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:34.337] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:34.355] [CoACD] [info] Preprocess Time: 0.284134s
164
+ [2026-03-11 19:36:34.355] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:34.355] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:34.355] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:34.355] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:34.355] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:37.252] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:37.252] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:37.252] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 19:36:37.252] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 19:36:39.371] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:39.371] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:39.371] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 19:36:39.371] [CoACD] [info] Processing [25.0%]
177
+ [2026-03-11 19:36:39.371] [CoACD] [info] Processing [75.0%]
178
+ [2026-03-11 19:36:39.371] [CoACD] [info] Processing [50.0%]
179
+ [2026-03-11 19:36:40.638] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:40.638] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:40.638] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 19:36:40.638] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 19:36:40.646] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:40.646] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:40.716] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:36:41.018] [CoACD] [info] Compute Time: 6.6627379190176725s
187
+ [2026-03-11 19:36:41.018] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:36:41] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:36:41] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:36:41] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:36:42] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:36:42] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:36:42] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <97bf000>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:36:42] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:36:42] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:36:42] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:36:42.980] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:36:42.980] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:36:42.980] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:36:42.980] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:36:42.980] [CoACD] [info] pca false
202
+ [2026-03-11 19:36:42.980] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:36:42.980] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:36:42.980] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:36:42.980] [CoACD] [info] merge true
206
+ [2026-03-11 19:36:42.980] [CoACD] [info] decimate true
207
+ [2026-03-11 19:36:42.980] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:36:42.980] [CoACD] [info] extrude false
209
+ [2026-03-11 19:36:42.980] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:36:42.980] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:36:42.980] [CoACD] [info] seed 0
212
+ [2026-03-11 19:36:42.982] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:36:43.001] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:36:43.001] [CoACD] [info] Manifold Check Time: 0.018955s
215
+ [2026-03-11 19:36:43.005] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:36:43.005] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:36:43.005] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:36:43.062] [CoACD] [info] Preprocess Time: 0.830093s
219
+ [2026-03-11 19:36:43.063] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:36:43.063] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:36:43.063] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:36:43.063] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:36:43.063] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:36:48.803] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:36:48.804] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:36:48.804] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 19:36:48.804] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 19:36:52.277] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:36:52.277] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:36:52.277] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 19:36:52.277] [CoACD] [info] Processing [75.0%]
232
+ [2026-03-11 19:36:52.277] [CoACD] [info] Processing [25.0%]
233
+ [2026-03-11 19:36:52.277] [CoACD] [info] Processing [50.0%]
234
+ [2026-03-11 19:36:54.521] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:36:54.521] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [12.5%]
238
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [37.5%]
239
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [62.5%]
240
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [75.0%]
241
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [25.0%]
242
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [87.5%]
243
+ [2026-03-11 19:36:54.522] [CoACD] [info] Processing [50.0%]
244
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:36:56.140] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [42.9%]
247
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [28.6%]
248
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [85.7%]
252
+ [2026-03-11 19:36:56.140] [CoACD] [info] Processing [71.4%]
253
+ [2026-03-11 19:36:57.583] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:36:57.584] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [75.0%]
257
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [87.5%]
258
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [12.5%]
259
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [50.0%]
260
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [25.0%]
261
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [37.5%]
262
+ [2026-03-11 19:36:57.584] [CoACD] [info] Processing [62.5%]
263
+ [2026-03-11 19:36:58.519] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:36:58.519] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:36:58.519] [CoACD] [info] Processing [0.0%]
266
+ [2026-03-11 19:36:58.519] [CoACD] [info] Processing [25.0%]
267
+ [2026-03-11 19:36:58.519] [CoACD] [info] Processing [87.5%]
268
+ [2026-03-11 19:36:58.519] [CoACD] [info] Processing [75.0%]
269
+ [2026-03-11 19:36:58.519] [CoACD] [info] Processing [50.0%]
270
+ [2026-03-11 19:36:58.531] [CoACD] [info] Processing [12.5%]
271
+ [2026-03-11 19:36:58.531] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 19:36:58.531] [CoACD] [info] Processing [37.5%]
273
+ [2026-03-11 19:36:59.038] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:36:59.038] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:36:59.038] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 19:36:59.038] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 19:36:59.044] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:36:59.044] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:37:02.608] [CoACD] [warning] Max concavity 0.06945616486042291 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:37:02.608] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:37:02.629] [CoACD] [info] Compute Time: 19.56643883790821s
282
+ [2026-03-11 19:37:02.629] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:37:02] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:37:02] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:37:03] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:37:03] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:37:03] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:37:03] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:37:04] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:37:04] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:37:04] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:37:05] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:05] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:05] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:06] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <73146b5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:07] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:07] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:07] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:07.113] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:07.113] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:07.113] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:07.113] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:07.113] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:07.113] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:07.113] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:07.113] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:07.113] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:07.113] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:07.113] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:07.113] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:07.113] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:07.113] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:07.113] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:07.113] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:07.118] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:07.118] [CoACD] [info] Manifold Check Time: 0.004023s
321
+ [2026-03-11 19:37:07.118] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:07.118] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:07.118] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:07.138] [CoACD] [info] Preprocess Time: 0.291678s
325
+ [2026-03-11 19:37:07.138] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:07.138] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:07.138] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:07.138] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:07.138] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:09.549] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:09.549] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:09.549] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:09.549] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:10.835] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:10.835] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:10.835] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 19:37:10.835] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 19:37:11.800] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:11.800] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:11.800] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:11.800] [CoACD] [info] Processing [25.0%]
342
+ [2026-03-11 19:37:11.800] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 19:37:11.800] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 19:37:12.562] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:12.563] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [87.5%]
348
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [25.0%]
349
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [12.5%]
350
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [37.5%]
351
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [75.0%]
352
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [62.5%]
353
+ [2026-03-11 19:37:12.563] [CoACD] [info] Processing [50.0%]
354
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:13.171] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [75.0%]
358
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [12.5%]
359
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [25.0%]
360
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [87.5%]
361
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [50.0%]
362
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [62.5%]
363
+ [2026-03-11 19:37:13.171] [CoACD] [info] Processing [37.5%]
364
+ [2026-03-11 19:37:13.660] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:13.660] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:13.660] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 19:37:13.660] [CoACD] [info] Processing [27.3%]
368
+ [2026-03-11 19:37:13.660] [CoACD] [info] Processing [54.5%]
369
+ [2026-03-11 19:37:13.660] [CoACD] [info] Processing [68.2%]
370
+ [2026-03-11 19:37:13.660] [CoACD] [info] Processing [81.8%]
371
+ [2026-03-11 19:37:13.660] [CoACD] [info] Processing [95.5%]
372
+ [2026-03-11 19:37:13.675] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 19:37:13.678] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:14.008] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [50.0%]
377
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [75.0%]
379
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [25.0%]
380
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [12.5%]
381
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [62.5%]
382
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [87.5%]
383
+ [2026-03-11 19:37:14.008] [CoACD] [info] Processing [0.0%]
384
+ [2026-03-11 19:37:14.016] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:14.016] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:14.722] [CoACD] [warning] Max concavity 0.056149511676879815 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 19:37:14.722] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 19:37:14.984] [CoACD] [info] Compute Time: 7.846488928422332s
389
+ [2026-03-11 19:37:14.984] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [19:37:17] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [19:37:17] [INFO] Building scene <f4c4565>...
407
+ [Genesis] [19:37:19] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [19:37:24] [INFO] Compiling simulation kernels...
409
+ [Genesis] [19:37:42] [INFO] Building visualizer...
410
+ next_episode=794 next_index=9426
411
+ [Genesis] [19:46:34] [INFO] 💤 Exiting Genesis and caching compiled kernels...
412
+ Batch batch_017 done!
413
+
414
+ ──────────────────────────────────────────
415
+ Batch 17: batch_018 (start_episode=800, n_episodes=45)
416
+ ──────────────────────────────────────────
417
+ [Genesis] [19:46:46] [INFO] ╭───────────────────────────────────────────────╮
418
+ [Genesis] [19:46:46] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
419
+ [Genesis] [19:46:46] [INFO] ╰───────────────────────────────────────────────╯
420
+ [Genesis] [19:46:46] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
421
+ [Genesis] [19:46:46] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
422
+ [Genesis] [19:46:49] [INFO] Scene <09edfcf> created.
423
+ [Genesis] [19:46:49] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <e99c45e>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:46:50] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <9698f4f>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
425
+ [Genesis] [19:46:51] [INFO] Applying offset to base link's pose with user provided value in morph.
426
+ [Genesis] [19:46:54] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <1625418>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
427
+ [Genesis] [19:46:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
428
+ [Genesis] [19:46:54] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <497bfa7>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
429
+ [Genesis] [19:46:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
430
+ [Genesis] [19:46:54] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
431
+ [Genesis] [19:46:54] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <b03ccf5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
432
+ [Genesis] [19:46:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
433
+ [Genesis] [19:46:54] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
434
+ [Genesis] [19:46:54] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <7082c0b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
435
+ [Genesis] [19:46:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
436
+ [Genesis] [19:46:54] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
437
+ [Genesis] [19:46:54] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <c1cccce>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [19:46:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [19:46:54] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [19:46:54] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <01dd0d1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [19:46:55] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [19:46:55] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [19:46:55] [INFO] Building scene <09edfcf>...
444
+ [Genesis] [19:46:56] [WARNING] Reference robot position exceeds joint limits.
445
+ [Genesis] [19:46:58] [INFO] Compiling simulation kernels...
446
+ [Genesis] [19:46:59] [INFO] Building visualizer...
447
+ next_episode=842 next_index=8587
448
+ [Genesis] [19:54:53] [INFO] 💤 Exiting Genesis and caching compiled kernels...
449
+ Batch batch_018 done!
450
+
451
+ ──────────────────────────────────────────
452
+ Batch 18: batch_019 (start_episode=845, n_episodes=52)
453
+ ──────────────────────────────────────────
454
+ [Genesis] [19:55:02] [INFO] ╭───────────────────────────────────────────────╮
455
+ [Genesis] [19:55:02] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
456
+ [Genesis] [19:55:02] [INFO] ╰───────────────────────────────────────────────╯
457
+ [Genesis] [19:55:02] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
458
+ [Genesis] [19:55:02] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
459
+ [Genesis] [19:55:05] [INFO] Scene <9396402> created.
460
+ [Genesis] [19:55:05] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <8d6a281>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:55:05] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <e639749>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
462
+ [Genesis] [19:55:06] [INFO] Applying offset to base link's pose with user provided value in morph.
463
+ [Genesis] [19:55:08] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <33c2523>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
464
+ [Genesis] [19:55:08] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
465
+ [Genesis] [19:55:08] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <6787d11>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
466
+ [Genesis] [19:55:08] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
467
+ [Genesis] [19:55:08] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
468
+ [Genesis] [19:55:08] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <545418e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
469
+ [Genesis] [19:55:08] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
470
+ [Genesis] [19:55:08] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
471
+ [Genesis] [19:55:08] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <cb7cc8c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
472
+ [Genesis] [19:55:08] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
473
+ [Genesis] [19:55:08] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
474
+ [Genesis] [19:55:09] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <b8e2023>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
475
+ [Genesis] [19:55:09] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
476
+ [Genesis] [19:55:09] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
477
+ [Genesis] [19:55:09] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <9dacf07>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
478
+ [Genesis] [19:55:09] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
479
+ [Genesis] [19:55:09] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
480
+ [Genesis] [19:55:09] [INFO] Building scene <9396402>...
481
+ [Genesis] [19:55:11] [WARNING] Reference robot position exceeds joint limits.
482
+ [Genesis] [19:55:12] [INFO] Compiling simulation kernels...
483
+ [Genesis] [19:55:12] [INFO] Building visualizer...
484
+ next_episode=890 next_index=8558
485
+ [Genesis] [20:03:21] [INFO] 💤 Exiting Genesis and caching compiled kernels...
486
+ Batch batch_019 done!
487
+
488
+ ──────────────────────────────────────────
489
+ Batch 19: batch_020 (start_episode=897, n_episodes=40)
490
+ ──────────────────────────────────────────
491
+ [Genesis] [20:03:29] [INFO] ╭───────────────────────────────────────────────╮
492
+ [Genesis] [20:03:29] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
493
+ [Genesis] [20:03:29] [INFO] ╰───────────────────────────────────────────────╯
494
+ [Genesis] [20:03:29] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
495
+ [Genesis] [20:03:29] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
496
+ [Genesis] [20:03:32] [INFO] Scene <96bea09> created.
497
+ [Genesis] [20:03:32] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <729cce2>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
498
+ [Genesis] [20:03:32] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <fb8587c>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
499
+ [Genesis] [20:03:33] [INFO] Applying offset to base link's pose with user provided value in morph.
500
+ [Genesis] [20:03:35] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <082afb5>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
501
+ [Genesis] [20:03:35] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
502
+ [Genesis] [20:03:35] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <67da278>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
503
+ [Genesis] [20:03:35] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
504
+ [Genesis] [20:03:35] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
505
+ [Genesis] [20:03:35] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <7793804>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
506
+ [Genesis] [20:03:35] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
507
+ [Genesis] [20:03:35] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
508
+ [Genesis] [20:03:35] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <df79485>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
509
+ [Genesis] [20:03:35] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
510
+ [Genesis] [20:03:35] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
511
+ [Genesis] [20:03:36] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <e7de36f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
512
+ [Genesis] [20:03:36] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
513
+ [Genesis] [20:03:36] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
514
+ [Genesis] [20:03:36] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <9403236>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
515
+ [Genesis] [20:03:36] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
516
+ [Genesis] [20:03:36] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
517
+ [Genesis] [20:03:36] [INFO] Building scene <96bea09>...
518
+ [Genesis] [20:03:38] [WARNING] Reference robot position exceeds joint limits.
519
+ [Genesis] [20:03:39] [INFO] Compiling simulation kernels...
520
+ [Genesis] [20:03:39] [INFO] Building visualizer...
521
+ next_episode=935 next_index=8373
522
+ [Genesis] [20:11:44] [INFO] 💤 Exiting Genesis and caching compiled kernels...
523
+ Batch batch_020 done!
524
+
525
+ ==========================================
526
+ Worker 4 complete!
527
+ ==========================================
meta/_logs/replay_204436_5.err ADDED
@@ -0,0 +1,469 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:59,074 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_021
2
+ 2026-03-11 19:36:12,430 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:36:15,835 [INFO] gs_gym.envs.benchgen.loader: Collected 50 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:36:15,835 [INFO] __main__: Loaded 50 trajectories for export
5
+ 2026-03-11 19:36:16,089 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:36:16,090 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:36:16,100 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:36:16,100 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:36:16,100 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:36:16,784 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:36:16,784 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:36:20,081 [INFO] genesis: Scene ~~~<<5cd9ec8>>~~~ created.
13
+ 2026-03-11 19:36:20,082 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<ae083c3>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:36:20,160 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:36:20,968 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<607909e>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:36:22,517 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:36:22,568 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:22,993 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:23,361 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:24,036 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:24,922 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:25,580 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:26,015 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:26,692 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:27,383 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:27,773 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:28,338 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:29,095 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:29,680 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:30,485 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:31,583 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:32,086 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<1161905>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:32,106 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:32,120 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:32,508 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<99c4a14>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:32,581 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:32,599 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:32,611 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:41,574 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:42,245 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:42,840 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:43,411 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<97afe3b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:43,504 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:43,532 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:43,546 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:52,594 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:52,709 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:52,852 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:53,068 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:53,149 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:53,304 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<f4cf6a7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:53,400 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:53,415 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:53,424 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:37:00,181 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:37:00,510 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:37:00,964 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:37:01,461 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:37:01,561 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:37:01,906 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<8d7331d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:37:02,028 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:37:02,097 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:37:02,127 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:37:21,042 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:37:21,341 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:37:21,402 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:37:21,694 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:37:21,946 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:37:22,029 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:37:22,320 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:37:22,616 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:37:23,036 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:37:23,356 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:23,692 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:23,949 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:24,184 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:24,247 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:24,551 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:24,786 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:25,027 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<0c2d2f2>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:25,110 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:25,125 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:25,131 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:33,040 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:33,136 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:33,208 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:33,683 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:33,787 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:33,863 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:33,947 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:34,006 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:34,060 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:34,151 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:34,379 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:34,440 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:34,706 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:35,114 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:35,182 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:35,237 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:35,290 [INFO] genesis: Building scene ~~~<<5cd9ec8>>~~~...
113
+ 2026-03-11 19:37:37,673 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:42,695 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:38:01,384 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:38:01,586 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:38:02,513 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:38:02,513 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:38:12,374 [INFO] gs_gym.envs.benchgen.export: Saved episode 937: 165 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:20,686 [INFO] gs_gym.envs.benchgen.export: Saved episode 938: 169 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:32,314 [INFO] gs_gym.envs.benchgen.export: Saved episode 939: 246 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:43,065 [INFO] gs_gym.envs.benchgen.export: Saved episode 940: 214 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
123
+ 2026-03-11 19:38:47,237 [INFO] gs_gym.envs.benchgen.export: Skipped episode 941: upside-down gripper detected, task='Pick up the banana and place it in the basket'
124
+ 2026-03-11 19:39:17,748 [INFO] gs_gym.envs.benchgen.export: Saved episode 941: 583 frames (21 static removed), task='Pick up the banana and place it in the basket', success=True
125
+ 2026-03-11 19:39:25,413 [INFO] gs_gym.envs.benchgen.export: Saved episode 942: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
126
+ 2026-03-11 19:39:35,785 [INFO] gs_gym.envs.benchgen.export: Saved episode 943: 202 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
127
+ 2026-03-11 19:39:45,294 [INFO] gs_gym.envs.benchgen.export: Saved episode 944: 166 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
128
+ 2026-03-11 19:39:49,483 [INFO] gs_gym.envs.benchgen.export: Skipped episode 945: upside-down gripper detected, task='Pick up the banana and place it in the basket'
129
+ 2026-03-11 19:40:25,245 [INFO] gs_gym.envs.benchgen.export: Saved episode 945: 628 frames (22 static removed), task='Pick up the banana and place it in the basket', success=True
130
+ 2026-03-11 19:40:33,623 [INFO] gs_gym.envs.benchgen.export: Saved episode 946: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
131
+ 2026-03-11 19:40:45,957 [INFO] gs_gym.envs.benchgen.export: Saved episode 947: 249 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
132
+ 2026-03-11 19:40:53,740 [INFO] gs_gym.envs.benchgen.export: Saved episode 948: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
133
+ 2026-03-11 19:41:01,579 [INFO] gs_gym.envs.benchgen.export: Saved episode 949: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
134
+ 2026-03-11 19:41:13,435 [INFO] gs_gym.envs.benchgen.export: Saved episode 950: 247 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
135
+ 2026-03-11 19:41:27,844 [INFO] gs_gym.envs.benchgen.export: Saved episode 951: 299 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
136
+ 2026-03-11 19:41:36,508 [INFO] gs_gym.envs.benchgen.export: Saved episode 952: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
137
+ 2026-03-11 19:41:47,125 [INFO] gs_gym.envs.benchgen.export: Saved episode 953: 216 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
138
+ 2026-03-11 19:41:58,532 [INFO] gs_gym.envs.benchgen.export: Saved episode 954: 228 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
139
+ 2026-03-11 19:42:10,942 [INFO] gs_gym.envs.benchgen.export: Saved episode 955: 253 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
140
+ 2026-03-11 19:42:19,459 [INFO] gs_gym.envs.benchgen.export: Skipped episode 956: upside-down gripper detected, task='Pick up the banana and place it in the basket'
141
+ 2026-03-11 19:42:27,490 [INFO] gs_gym.envs.benchgen.export: Saved episode 956: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
142
+ 2026-03-11 19:42:38,241 [INFO] gs_gym.envs.benchgen.export: Saved episode 957: 228 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
143
+ 2026-03-11 19:42:49,707 [INFO] gs_gym.envs.benchgen.export: Saved episode 958: 229 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
144
+ 2026-03-11 19:42:59,057 [INFO] gs_gym.envs.benchgen.export: Saved episode 959: 164 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
145
+ 2026-03-11 19:43:08,051 [INFO] gs_gym.envs.benchgen.export: Saved episode 960: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
146
+ 2026-03-11 19:43:16,578 [INFO] gs_gym.envs.benchgen.export: Saved episode 961: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
147
+ 2026-03-11 19:43:24,723 [INFO] gs_gym.envs.benchgen.export: Saved episode 962: 160 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
148
+ 2026-03-11 19:43:35,183 [INFO] gs_gym.envs.benchgen.export: Saved episode 963: 215 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
149
+ 2026-03-11 19:43:49,482 [INFO] gs_gym.envs.benchgen.export: Saved episode 964: 258 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
150
+ 2026-03-11 19:44:04,315 [INFO] gs_gym.envs.benchgen.export: Saved episode 965: 176 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
151
+ 2026-03-11 19:44:16,309 [INFO] gs_gym.envs.benchgen.export: Saved episode 966: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
152
+ 2026-03-11 19:44:25,979 [INFO] gs_gym.envs.benchgen.export: Saved episode 967: 155 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
153
+ 2026-03-11 19:44:29,716 [INFO] gs_gym.envs.benchgen.export: Skipped episode 968: upside-down gripper detected, task='Pick up the banana and place it in the basket'
154
+ 2026-03-11 19:44:47,814 [INFO] gs_gym.envs.benchgen.export: Saved episode 968: 363 frames (15 static removed), task='Pick up the banana and place it in the basket', success=True
155
+ 2026-03-11 19:44:58,643 [INFO] gs_gym.envs.benchgen.export: Saved episode 969: 212 frames (31 static removed), task='Pick up the banana and place it in the basket', success=True
156
+ 2026-03-11 19:45:06,433 [INFO] gs_gym.envs.benchgen.export: Saved episode 970: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
157
+ 2026-03-11 19:45:15,397 [INFO] gs_gym.envs.benchgen.export: Saved episode 971: 177 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
158
+ 2026-03-11 19:45:23,527 [INFO] gs_gym.envs.benchgen.export: Saved episode 972: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
159
+ 2026-03-11 19:45:35,309 [INFO] gs_gym.envs.benchgen.export: Saved episode 973: 230 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
160
+ 2026-03-11 19:45:43,791 [INFO] gs_gym.envs.benchgen.export: Saved episode 974: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
161
+ 2026-03-11 19:45:51,656 [INFO] gs_gym.envs.benchgen.export: Saved episode 975: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
162
+ 2026-03-11 19:45:57,605 [INFO] gs_gym.envs.benchgen.export: Skipped episode 976: upside-down gripper detected, task='Pick up the banana and place it in the basket'
163
+ 2026-03-11 19:46:09,294 [INFO] gs_gym.envs.benchgen.export: Saved episode 976: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
164
+ 2026-03-11 19:46:17,354 [INFO] gs_gym.envs.benchgen.export: Saved episode 977: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
165
+ 2026-03-11 19:46:19,557 [INFO] gs_gym.envs.benchgen.export: Skipped episode 978: upside-down gripper detected, task='Pick up the banana and place it in the basket'
166
+ 2026-03-11 19:46:51,858 [INFO] gs_gym.envs.benchgen.export: Saved episode 978: 574 frames (24 static removed), task='Pick up the banana and place it in the basket', success=True
167
+ 2026-03-11 19:46:57,183 [INFO] gs_gym.envs.benchgen.export: Skipped episode 979: upside-down gripper detected, task='Pick up the banana and place it in the basket'
168
+ 2026-03-11 19:47:11,036 [INFO] gs_gym.envs.benchgen.export: Saved episode 979: 208 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
169
+ 2026-03-11 19:47:11,037 [INFO] __main__: Export complete: 43 episodes, 9731 frames
170
+ 2026-03-11 19:47:11,038 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
171
+ 2026-03-11 19:47:11,041 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
172
+ 2026-03-11 19:47:12,800 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_022
173
+ 2026-03-11 19:47:19,998 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
174
+ 2026-03-11 19:47:22,427 [INFO] gs_gym.envs.benchgen.loader: Collected 46 trajectories (success only) from 64 trials
175
+ 2026-03-11 19:47:22,428 [INFO] __main__: Loaded 46 trajectories for export
176
+ 2026-03-11 19:47:22,640 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
177
+ 2026-03-11 19:47:22,640 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
178
+ 2026-03-11 19:47:22,651 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
179
+ 2026-03-11 19:47:22,652 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
180
+ 2026-03-11 19:47:22,652 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
181
+ 2026-03-11 19:47:22,986 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
182
+ 2026-03-11 19:47:22,986 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
183
+ 2026-03-11 19:47:26,080 [INFO] genesis: Scene ~~~<<5dedec5>>~~~ created.
184
+ 2026-03-11 19:47:26,080 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<1ad40a4>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
185
+ 2026-03-11 19:47:26,173 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<10cd227>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
186
+ 2026-03-11 19:47:27,790 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
187
+ 2026-03-11 19:47:29,790 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<0efef17>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
189
+ warnings.warn("pygltflib currently does not remove image data "
190
+ 2026-03-11 19:47:29,815 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
191
+ 2026-03-11 19:47:29,832 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<3e56d08>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
192
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
193
+ warnings.warn("pygltflib currently does not remove image data "
194
+ 2026-03-11 19:47:29,909 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ 2026-03-11 19:47:29,929 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ 2026-03-11 19:47:29,971 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<63675b8>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
197
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
198
+ warnings.warn("pygltflib currently does not remove image data "
199
+ 2026-03-11 19:47:30,072 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
200
+ 2026-03-11 19:47:30,107 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
201
+ 2026-03-11 19:47:30,166 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<8a43b24>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
202
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
203
+ warnings.warn("pygltflib currently does not remove image data "
204
+ 2026-03-11 19:47:30,266 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
205
+ 2026-03-11 19:47:30,285 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
206
+ 2026-03-11 19:47:30,344 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<37cf002>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
207
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
208
+ warnings.warn("pygltflib currently does not remove image data "
209
+ 2026-03-11 19:47:30,471 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
210
+ 2026-03-11 19:47:30,547 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
211
+ 2026-03-11 19:47:30,656 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<64b52de>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
212
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
213
+ warnings.warn("pygltflib currently does not remove image data "
214
+ 2026-03-11 19:47:30,754 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
215
+ 2026-03-11 19:47:30,773 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
216
+ 2026-03-11 19:47:30,853 [INFO] genesis: Building scene ~~~<<5dedec5>>~~~...
217
+ 2026-03-11 19:47:32,609 [WARNING] genesis: Reference robot position exceeds joint limits.
218
+ 2026-03-11 19:47:34,050 [INFO] genesis: Compiling simulation kernels...
219
+ 2026-03-11 19:47:34,858 [INFO] genesis: Building visualizer...
220
+ 2026-03-11 19:47:35,115 [INFO] __main__: Environment created successfully
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+ 2026-03-11 19:47:35,897 [INFO] __main__: Loaded pre-built task map with 1 tasks
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+ 2026-03-11 19:47:35,897 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
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+ 2026-03-11 19:47:48,657 [INFO] gs_gym.envs.benchgen.export: Saved episode 987: 250 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:47:58,381 [INFO] gs_gym.envs.benchgen.export: Saved episode 988: 202 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:08,111 [INFO] gs_gym.envs.benchgen.export: Saved episode 989: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:18,692 [INFO] gs_gym.envs.benchgen.export: Saved episode 990: 220 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:30,059 [INFO] gs_gym.envs.benchgen.export: Saved episode 991: 232 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:37,811 [INFO] gs_gym.envs.benchgen.export: Saved episode 992: 158 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:46,246 [INFO] gs_gym.envs.benchgen.export: Saved episode 993: 174 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:48:56,931 [INFO] gs_gym.envs.benchgen.export: Saved episode 994: 228 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:08,608 [INFO] gs_gym.envs.benchgen.export: Saved episode 995: 243 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:21,551 [INFO] gs_gym.envs.benchgen.export: Saved episode 996: 260 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:32,094 [INFO] gs_gym.envs.benchgen.export: Saved episode 997: 202 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:41,197 [INFO] gs_gym.envs.benchgen.export: Saved episode 998: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:49:45,220 [INFO] gs_gym.envs.benchgen.export: Skipped episode 999: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:49:54,512 [INFO] gs_gym.envs.benchgen.export: Saved episode 999: 160 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:07,173 [INFO] gs_gym.envs.benchgen.export: Saved episode 1000: 227 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:16,275 [INFO] gs_gym.envs.benchgen.export: Saved episode 1001: 177 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:27,877 [INFO] gs_gym.envs.benchgen.export: Saved episode 1002: 236 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:35,856 [INFO] gs_gym.envs.benchgen.export: Saved episode 1003: 169 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:44,107 [INFO] gs_gym.envs.benchgen.export: Saved episode 1004: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:50:52,275 [INFO] gs_gym.envs.benchgen.export: Saved episode 1005: 157 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:03,495 [INFO] gs_gym.envs.benchgen.export: Saved episode 1006: 244 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:15,434 [INFO] gs_gym.envs.benchgen.export: Saved episode 1007: 225 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:27,529 [INFO] gs_gym.envs.benchgen.export: Saved episode 1008: 156 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:45,430 [INFO] gs_gym.envs.benchgen.export: Saved episode 1009: 253 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:51:55,940 [INFO] gs_gym.envs.benchgen.export: Saved episode 1010: 229 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:03,960 [INFO] gs_gym.envs.benchgen.export: Saved episode 1011: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:07,331 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1012: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:52:09,839 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1012: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:52:19,910 [INFO] gs_gym.envs.benchgen.export: Saved episode 1012: 200 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:31,613 [INFO] gs_gym.envs.benchgen.export: Saved episode 1013: 236 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:52:35,674 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1014: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:52:49,336 [INFO] gs_gym.envs.benchgen.export: Saved episode 1014: 223 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:02,007 [INFO] gs_gym.envs.benchgen.export: Saved episode 1015: 272 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:13,623 [INFO] gs_gym.envs.benchgen.export: Saved episode 1016: 219 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:25,424 [INFO] gs_gym.envs.benchgen.export: Saved episode 1017: 251 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:30,743 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1018: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:53:39,098 [INFO] gs_gym.envs.benchgen.export: Saved episode 1018: 185 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:53:47,053 [INFO] gs_gym.envs.benchgen.export: Saved episode 1019: 167 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:54:00,515 [INFO] gs_gym.envs.benchgen.export: Saved episode 1020: 272 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:54:03,846 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1021: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:54:07,202 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1021: upside-down gripper detected, task='Pick up the banana and place it in the basket'
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+ 2026-03-11 19:54:19,633 [INFO] gs_gym.envs.benchgen.export: Saved episode 1021: 252 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
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+ 2026-03-11 19:54:28,191 [INFO] gs_gym.envs.benchgen.export: Saved episode 1022: 178 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
266
+ 2026-03-11 19:54:39,566 [INFO] gs_gym.envs.benchgen.export: Saved episode 1023: 237 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
267
+ 2026-03-11 19:54:41,968 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1024: upside-down gripper detected, task='Pick up the banana and place it in the basket'
268
+ 2026-03-11 19:54:44,018 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1024: upside-down gripper detected, task='Pick up the banana and place it in the basket'
269
+ 2026-03-11 19:54:44,023 [INFO] __main__: Export complete: 37 episodes, 7781 frames
270
+ 2026-03-11 19:54:44,023 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
271
+ 2026-03-11 19:54:44,027 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
272
+ 2026-03-11 19:54:45,551 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_023
273
+ 2026-03-11 19:54:52,279 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
274
+ 2026-03-11 19:54:54,615 [INFO] gs_gym.envs.benchgen.loader: Collected 44 trajectories (success only) from 64 trials
275
+ 2026-03-11 19:54:54,615 [INFO] __main__: Loaded 44 trajectories for export
276
+ 2026-03-11 19:54:54,823 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
277
+ 2026-03-11 19:54:54,823 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
278
+ 2026-03-11 19:54:54,831 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
279
+ 2026-03-11 19:54:54,831 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
280
+ 2026-03-11 19:54:54,831 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
281
+ 2026-03-11 19:54:55,112 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
282
+ 2026-03-11 19:54:55,112 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
283
+ 2026-03-11 19:54:57,575 [INFO] genesis: Scene ~~~<<a54365f>>~~~ created.
284
+ 2026-03-11 19:54:57,576 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<b0c9143>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
285
+ 2026-03-11 19:54:57,657 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<dd630b6>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
286
+ 2026-03-11 19:54:59,046 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
287
+ 2026-03-11 19:55:00,852 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<856cdc0>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
288
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
289
+ warnings.warn("pygltflib currently does not remove image data "
290
+ 2026-03-11 19:55:00,877 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
291
+ 2026-03-11 19:55:00,891 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<00776dd>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
292
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
293
+ warnings.warn("pygltflib currently does not remove image data "
294
+ 2026-03-11 19:55:00,963 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
295
+ 2026-03-11 19:55:00,980 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
296
+ 2026-03-11 19:55:01,016 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<eba20b9>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
297
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
298
+ warnings.warn("pygltflib currently does not remove image data "
299
+ 2026-03-11 19:55:01,110 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
300
+ 2026-03-11 19:55:01,138 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
301
+ 2026-03-11 19:55:01,189 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<0b64aef>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
302
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
303
+ warnings.warn("pygltflib currently does not remove image data "
304
+ 2026-03-11 19:55:01,284 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
305
+ 2026-03-11 19:55:01,300 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
306
+ 2026-03-11 19:55:01,344 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<53fd75b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
307
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
308
+ warnings.warn("pygltflib currently does not remove image data "
309
+ 2026-03-11 19:55:01,461 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
310
+ 2026-03-11 19:55:01,531 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
311
+ 2026-03-11 19:55:01,621 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<906f14e>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
312
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
313
+ warnings.warn("pygltflib currently does not remove image data "
314
+ 2026-03-11 19:55:01,707 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
315
+ 2026-03-11 19:55:01,723 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
316
+ 2026-03-11 19:55:01,787 [INFO] genesis: Building scene ~~~<<a54365f>>~~~...
317
+ 2026-03-11 19:55:03,434 [WARNING] genesis: Reference robot position exceeds joint limits.
318
+ 2026-03-11 19:55:04,670 [INFO] genesis: Compiling simulation kernels...
319
+ 2026-03-11 19:55:05,402 [INFO] genesis: Building visualizer...
320
+ 2026-03-11 19:55:05,595 [INFO] __main__: Environment created successfully
321
+ 2026-03-11 19:55:06,339 [INFO] __main__: Loaded pre-built task map with 1 tasks
322
+ 2026-03-11 19:55:06,339 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
323
+ 2026-03-11 19:55:15,431 [INFO] gs_gym.envs.benchgen.export: Saved episode 1033: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
324
+ 2026-03-11 19:55:24,413 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1034: upside-down gripper detected, task='Pick up the banana and place it in the basket'
325
+ 2026-03-11 19:55:38,036 [INFO] gs_gym.envs.benchgen.export: Saved episode 1034: 233 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
326
+ 2026-03-11 19:55:49,779 [INFO] gs_gym.envs.benchgen.export: Saved episode 1035: 183 frames, task='Pick up the banana and place it in the basket', success=True
327
+ 2026-03-11 19:55:58,563 [INFO] gs_gym.envs.benchgen.export: Saved episode 1036: 168 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
328
+ 2026-03-11 19:56:10,160 [INFO] gs_gym.envs.benchgen.export: Saved episode 1037: 229 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
329
+ 2026-03-11 19:56:21,821 [INFO] gs_gym.envs.benchgen.export: Saved episode 1038: 236 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
330
+ 2026-03-11 19:56:33,399 [INFO] gs_gym.envs.benchgen.export: Saved episode 1039: 235 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
331
+ 2026-03-11 19:56:36,441 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1040: upside-down gripper detected, task='Pick up the banana and place it in the basket'
332
+ 2026-03-11 19:56:45,745 [INFO] gs_gym.envs.benchgen.export: Saved episode 1040: 174 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
333
+ 2026-03-11 19:56:59,040 [INFO] gs_gym.envs.benchgen.export: Saved episode 1041: 232 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:57:10,364 [INFO] gs_gym.envs.benchgen.export: Saved episode 1042: 218 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
335
+ 2026-03-11 19:57:21,736 [INFO] gs_gym.envs.benchgen.export: Saved episode 1043: 228 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:57:29,639 [INFO] gs_gym.envs.benchgen.export: Saved episode 1044: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
337
+ 2026-03-11 19:57:38,036 [INFO] gs_gym.envs.benchgen.export: Saved episode 1045: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
338
+ 2026-03-11 19:57:46,880 [INFO] gs_gym.envs.benchgen.export: Saved episode 1046: 177 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
339
+ 2026-03-11 19:57:55,410 [INFO] gs_gym.envs.benchgen.export: Saved episode 1047: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
340
+ 2026-03-11 19:58:06,281 [INFO] gs_gym.envs.benchgen.export: Saved episode 1048: 214 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
341
+ 2026-03-11 19:58:16,378 [INFO] gs_gym.envs.benchgen.export: Saved episode 1049: 200 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
342
+ 2026-03-11 19:58:25,157 [INFO] gs_gym.envs.benchgen.export: Saved episode 1050: 171 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
343
+ 2026-03-11 19:58:37,677 [INFO] gs_gym.envs.benchgen.export: Saved episode 1051: 259 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
344
+ 2026-03-11 19:58:48,161 [INFO] gs_gym.envs.benchgen.export: Saved episode 1052: 209 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
345
+ 2026-03-11 19:58:56,624 [INFO] gs_gym.envs.benchgen.export: Saved episode 1053: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
346
+ 2026-03-11 19:59:08,041 [INFO] gs_gym.envs.benchgen.export: Saved episode 1054: 227 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
347
+ 2026-03-11 19:59:16,372 [INFO] gs_gym.envs.benchgen.export: Saved episode 1055: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
348
+ 2026-03-11 19:59:28,282 [INFO] gs_gym.envs.benchgen.export: Saved episode 1056: 234 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
349
+ 2026-03-11 19:59:39,905 [INFO] gs_gym.envs.benchgen.export: Saved episode 1057: 217 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 19:59:55,419 [INFO] gs_gym.envs.benchgen.export: Saved episode 1058: 221 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
351
+ 2026-03-11 20:00:08,318 [INFO] gs_gym.envs.benchgen.export: Saved episode 1059: 229 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
352
+ 2026-03-11 20:00:20,115 [INFO] gs_gym.envs.benchgen.export: Saved episode 1060: 242 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
353
+ 2026-03-11 20:00:33,230 [INFO] gs_gym.envs.benchgen.export: Saved episode 1061: 242 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
354
+ 2026-03-11 20:00:44,273 [INFO] gs_gym.envs.benchgen.export: Saved episode 1062: 221 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:00:54,985 [INFO] gs_gym.envs.benchgen.export: Saved episode 1063: 210 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:01:03,406 [INFO] gs_gym.envs.benchgen.export: Saved episode 1064: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
357
+ 2026-03-11 20:01:16,544 [INFO] gs_gym.envs.benchgen.export: Saved episode 1065: 249 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
358
+ 2026-03-11 20:01:29,876 [INFO] gs_gym.envs.benchgen.export: Saved episode 1066: 248 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
359
+ 2026-03-11 20:01:41,106 [INFO] gs_gym.envs.benchgen.export: Saved episode 1067: 216 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
360
+ 2026-03-11 20:01:49,263 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1068: upside-down gripper detected, task='Pick up the banana and place it in the basket'
361
+ 2026-03-11 20:01:59,873 [INFO] gs_gym.envs.benchgen.export: Saved episode 1068: 218 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
362
+ 2026-03-11 20:02:08,423 [INFO] gs_gym.envs.benchgen.export: Saved episode 1069: 178 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
363
+ 2026-03-11 20:02:16,623 [INFO] gs_gym.envs.benchgen.export: Saved episode 1070: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
364
+ 2026-03-11 20:02:23,807 [INFO] gs_gym.envs.benchgen.export: Saved episode 1071: 157 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
365
+ 2026-03-11 20:02:32,030 [INFO] gs_gym.envs.benchgen.export: Saved episode 1072: 169 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
366
+ 2026-03-11 20:02:40,461 [INFO] gs_gym.envs.benchgen.export: Saved episode 1073: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
367
+ 2026-03-11 20:02:40,462 [INFO] __main__: Export complete: 41 episodes, 8368 frames
368
+ 2026-03-11 20:02:40,462 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
369
+ 2026-03-11 20:02:40,466 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
370
+ 2026-03-11 20:02:41,916 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_024
371
+ 2026-03-11 20:02:49,756 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
372
+ 2026-03-11 20:02:51,728 [INFO] gs_gym.envs.benchgen.loader: Collected 46 trajectories (success only) from 64 trials
373
+ 2026-03-11 20:02:51,728 [INFO] __main__: Loaded 46 trajectories for export
374
+ 2026-03-11 20:02:51,894 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
375
+ 2026-03-11 20:02:51,894 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
376
+ 2026-03-11 20:02:51,903 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
377
+ 2026-03-11 20:02:51,903 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
378
+ 2026-03-11 20:02:51,903 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
379
+ 2026-03-11 20:02:52,178 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
380
+ 2026-03-11 20:02:52,178 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
381
+ 2026-03-11 20:02:54,561 [INFO] genesis: Scene ~~~<<c84eb5a>>~~~ created.
382
+ 2026-03-11 20:02:54,561 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<4632904>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
383
+ 2026-03-11 20:02:54,640 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<0930939>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
384
+ 2026-03-11 20:02:56,002 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
385
+ 2026-03-11 20:02:57,770 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<f9fc393>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
386
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
387
+ warnings.warn("pygltflib currently does not remove image data "
388
+ 2026-03-11 20:02:57,796 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
389
+ 2026-03-11 20:02:57,810 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<4abcefa>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
390
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
391
+ warnings.warn("pygltflib currently does not remove image data "
392
+ 2026-03-11 20:02:57,882 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
393
+ 2026-03-11 20:02:57,899 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
394
+ 2026-03-11 20:02:57,935 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<75a9507>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
395
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
396
+ warnings.warn("pygltflib currently does not remove image data "
397
+ 2026-03-11 20:02:58,027 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
398
+ 2026-03-11 20:02:58,055 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
399
+ 2026-03-11 20:02:58,107 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<f43d8cc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
400
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
401
+ warnings.warn("pygltflib currently does not remove image data "
402
+ 2026-03-11 20:02:58,197 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
403
+ 2026-03-11 20:02:58,212 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
404
+ 2026-03-11 20:02:58,257 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<0a17589>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
405
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
406
+ warnings.warn("pygltflib currently does not remove image data "
407
+ 2026-03-11 20:02:58,364 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
408
+ 2026-03-11 20:02:58,433 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
409
+ 2026-03-11 20:02:58,524 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<8c27499>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
410
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
411
+ warnings.warn("pygltflib currently does not remove image data "
412
+ 2026-03-11 20:02:58,606 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
413
+ 2026-03-11 20:02:58,620 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
414
+ 2026-03-11 20:02:58,685 [INFO] genesis: Building scene ~~~<<c84eb5a>>~~~...
415
+ 2026-03-11 20:03:00,326 [WARNING] genesis: Reference robot position exceeds joint limits.
416
+ 2026-03-11 20:03:01,563 [INFO] genesis: Compiling simulation kernels...
417
+ 2026-03-11 20:03:02,299 [INFO] genesis: Building visualizer...
418
+ 2026-03-11 20:03:02,502 [INFO] __main__: Environment created successfully
419
+ 2026-03-11 20:03:03,246 [INFO] __main__: Loaded pre-built task map with 1 tasks
420
+ 2026-03-11 20:03:03,246 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
421
+ 2026-03-11 20:03:12,325 [INFO] gs_gym.envs.benchgen.export: Saved episode 1077: 173 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
422
+ 2026-03-11 20:03:20,032 [INFO] gs_gym.envs.benchgen.export: Saved episode 1078: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
423
+ 2026-03-11 20:03:27,990 [INFO] gs_gym.envs.benchgen.export: Saved episode 1079: 160 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
424
+ 2026-03-11 20:03:41,293 [INFO] gs_gym.envs.benchgen.export: Saved episode 1080: 274 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
425
+ 2026-03-11 20:03:49,607 [INFO] gs_gym.envs.benchgen.export: Saved episode 1081: 162 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
426
+ 2026-03-11 20:04:01,886 [INFO] gs_gym.envs.benchgen.export: Saved episode 1082: 211 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
427
+ 2026-03-11 20:04:10,680 [INFO] gs_gym.envs.benchgen.export: Saved episode 1083: 164 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
428
+ 2026-03-11 20:04:19,123 [INFO] gs_gym.envs.benchgen.export: Saved episode 1084: 170 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
429
+ 2026-03-11 20:04:21,642 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1085: upside-down gripper detected, task='Pick up the banana and place it in the basket'
430
+ 2026-03-11 20:04:33,474 [INFO] gs_gym.envs.benchgen.export: Saved episode 1085: 228 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
431
+ 2026-03-11 20:04:44,949 [INFO] gs_gym.envs.benchgen.export: Saved episode 1086: 227 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
432
+ 2026-03-11 20:04:52,530 [INFO] gs_gym.envs.benchgen.export: Saved episode 1087: 152 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
433
+ 2026-03-11 20:05:03,785 [INFO] gs_gym.envs.benchgen.export: Saved episode 1088: 212 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
434
+ 2026-03-11 20:05:17,300 [INFO] gs_gym.envs.benchgen.export: Saved episode 1089: 247 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
435
+ 2026-03-11 20:05:25,689 [INFO] gs_gym.envs.benchgen.export: Saved episode 1090: 156 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
436
+ 2026-03-11 20:05:36,164 [INFO] gs_gym.envs.benchgen.export: Saved episode 1091: 208 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
437
+ 2026-03-11 20:05:44,554 [INFO] gs_gym.envs.benchgen.export: Saved episode 1092: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
438
+ 2026-03-11 20:05:55,729 [INFO] gs_gym.envs.benchgen.export: Saved episode 1093: 231 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
439
+ 2026-03-11 20:05:59,917 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1094: upside-down gripper detected, task='Pick up the banana and place it in the basket'
440
+ 2026-03-11 20:06:10,864 [INFO] gs_gym.envs.benchgen.export: Saved episode 1094: 222 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
441
+ 2026-03-11 20:06:21,826 [INFO] gs_gym.envs.benchgen.export: Saved episode 1095: 219 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
442
+ 2026-03-11 20:06:24,604 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1096: upside-down gripper detected, task='Pick up the banana and place it in the basket'
443
+ 2026-03-11 20:06:53,174 [INFO] gs_gym.envs.benchgen.export: Saved episode 1096: 575 frames (17 static removed), task='Pick up the banana and place it in the basket', success=True
444
+ 2026-03-11 20:07:03,958 [INFO] gs_gym.envs.benchgen.export: Saved episode 1097: 204 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
445
+ 2026-03-11 20:07:11,972 [INFO] gs_gym.envs.benchgen.export: Saved episode 1098: 160 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
446
+ 2026-03-11 20:07:23,298 [INFO] gs_gym.envs.benchgen.export: Saved episode 1099: 218 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
447
+ 2026-03-11 20:07:37,048 [INFO] gs_gym.envs.benchgen.export: Saved episode 1100: 221 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
448
+ 2026-03-11 20:07:46,309 [INFO] gs_gym.envs.benchgen.export: Saved episode 1101: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
449
+ 2026-03-11 20:07:54,313 [INFO] gs_gym.envs.benchgen.export: Saved episode 1102: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
450
+ 2026-03-11 20:08:02,839 [INFO] gs_gym.envs.benchgen.export: Saved episode 1103: 169 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
451
+ 2026-03-11 20:08:14,719 [INFO] gs_gym.envs.benchgen.export: Saved episode 1104: 224 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
452
+ 2026-03-11 20:08:24,297 [INFO] gs_gym.envs.benchgen.export: Saved episode 1105: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
453
+ 2026-03-11 20:08:36,224 [INFO] gs_gym.envs.benchgen.export: Saved episode 1106: 208 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
454
+ 2026-03-11 20:08:49,140 [INFO] gs_gym.envs.benchgen.export: Saved episode 1107: 256 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
455
+ 2026-03-11 20:09:00,253 [INFO] gs_gym.envs.benchgen.export: Saved episode 1108: 224 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
456
+ 2026-03-11 20:09:11,811 [INFO] gs_gym.envs.benchgen.export: Saved episode 1109: 239 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
457
+ 2026-03-11 20:09:15,199 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1110: upside-down gripper detected, task='Pick up the banana and place it in the basket'
458
+ 2026-03-11 20:09:26,177 [INFO] gs_gym.envs.benchgen.export: Saved episode 1110: 170 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
459
+ 2026-03-11 20:09:37,292 [INFO] gs_gym.envs.benchgen.export: Saved episode 1111: 173 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
460
+ 2026-03-11 20:09:48,906 [INFO] gs_gym.envs.benchgen.export: Saved episode 1112: 219 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
461
+ 2026-03-11 20:09:57,486 [INFO] gs_gym.envs.benchgen.export: Saved episode 1113: 172 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
462
+ 2026-03-11 20:10:08,861 [INFO] gs_gym.envs.benchgen.export: Saved episode 1114: 220 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
463
+ 2026-03-11 20:10:20,448 [INFO] gs_gym.envs.benchgen.export: Saved episode 1115: 223 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
464
+ 2026-03-11 20:10:31,828 [INFO] gs_gym.envs.benchgen.export: Saved episode 1116: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
465
+ 2026-03-11 20:10:36,038 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1117: upside-down gripper detected, task='Pick up the banana and place it in the basket'
466
+ 2026-03-11 20:10:38,613 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1117: upside-down gripper detected, task='Pick up the banana and place it in the basket'
467
+ 2026-03-11 20:10:38,613 [INFO] __main__: Export complete: 40 episodes, 8337 frames
468
+ 2026-03-11 20:10:38,613 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
469
+ 2026-03-11 20:10:38,617 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_5.out ADDED
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1
+ ==========================================
2
+ Worker 5/8: batches [20 21 22 23]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 20: batch_021 (start_episode=937, n_episodes=50)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:36:16] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:36:16] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:36:16] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:36:16] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:36:16] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:36:20] [INFO] Scene <5cd9ec8> created.
14
+ [Genesis] [19:36:20] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <ae083c3>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:36:20] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:36:20] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <607909e>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:36:22] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:36:22] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:22] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:23] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:24] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:24] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:25] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:26] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:26] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:27] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:27] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:28] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:29] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:30] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:31] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:32] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <1161905>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:32] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:32] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <99c4a14>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:32] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:32] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:32.611] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:32.612] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:32.612] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:32.612] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:32.612] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:32.612] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:32.612] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:32.612] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:32.612] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:32.612] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:32.612] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:32.612] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:32.612] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:32.612] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:32.612] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:32.612] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:32.614] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:32.614] [CoACD] [info] Manifold Check Time: 0.001876s
58
+ [2026-03-11 19:36:32.615] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:32.615] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:32.615] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:32.641] [CoACD] [info] Preprocess Time: 0.343704s
62
+ [2026-03-11 19:36:32.642] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:32.642] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:32.642] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:32.642] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:32.642] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:36.738] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:36.738] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:36.738] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:36.738] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:39.139] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:39.139] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:39.139] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 19:36:39.139] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 19:36:39.153] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:39.153] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:39.249] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:41.551] [CoACD] [info] Compute Time: 8.90908635314554s
79
+ [2026-03-11 19:36:41.551] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:41] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:42] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:42] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:43] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <97afe3b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:43] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:43] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:43] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:43.547] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:43.547] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:43.547] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:43.547] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:43.547] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:43.547] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:43.547] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:43.547] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:43.547] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:43.547] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:43.547] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:43.547] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:43.547] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:43.547] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:43.547] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:43.547] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:43.554] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:43.554] [CoACD] [info] Manifold Check Time: 0.006147s
105
+ [2026-03-11 19:36:43.555] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:43.555] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:43.555] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:43.585] [CoACD] [info] Preprocess Time: 0.479592s
109
+ [2026-03-11 19:36:43.586] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:43.586] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:43.586] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:43.586] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:43.586] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:47.536] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:47.536] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:47.536] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:47.536] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:50.665] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:50.665] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:50.665] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:50.665] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:50.665] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 19:36:50.665] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 19:36:52.092] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:52.092] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:52.092] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:52.092] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:52.101] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:52.101] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:52.222] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:52.562] [CoACD] [info] Compute Time: 8.975902730133384s
132
+ [2026-03-11 19:36:52.562] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:53] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:53] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:53] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <f4cf6a7>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:53] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:53] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:53] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:53.424] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:53.424] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:53.424] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:53.424] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:53.424] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:53.424] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:53.424] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:53.424] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:53.424] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:53.424] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:53.424] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:53.424] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:53.424] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:53.424] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:53.424] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:53.424] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:53.427] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:53.427] [CoACD] [info] Manifold Check Time: 0.002383s
160
+ [2026-03-11 19:36:53.427] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:53.427] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:53.427] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:53.444] [CoACD] [info] Preprocess Time: 0.267259s
164
+ [2026-03-11 19:36:53.444] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:53.445] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:53.445] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:53.445] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:53.445] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:56.356] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:56.357] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:56.357] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 19:36:56.357] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 19:36:58.495] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:58.496] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:58.496] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 19:36:58.496] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 19:36:58.496] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 19:36:58.496] [CoACD] [info] Processing [25.0%]
179
+ [2026-03-11 19:36:59.775] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:59.775] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:59.775] [CoACD] [info] Processing [50.0%]
182
+ [2026-03-11 19:36:59.775] [CoACD] [info] Processing [0.0%]
183
+ [2026-03-11 19:36:59.783] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:59.783] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:59.844] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:37:00.150] [CoACD] [info] Compute Time: 6.705571175087243s
187
+ [2026-03-11 19:37:00.150] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:37:00] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:37:01] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:37:01] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:37:01] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <8d7331d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:37:02] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:37:02] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:37:02] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:37:02.129] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:37:02.129] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:37:02.129] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:37:02.129] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:37:02.129] [CoACD] [info] pca false
202
+ [2026-03-11 19:37:02.129] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:37:02.129] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:37:02.129] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:37:02.129] [CoACD] [info] merge true
206
+ [2026-03-11 19:37:02.129] [CoACD] [info] decimate true
207
+ [2026-03-11 19:37:02.129] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:37:02.129] [CoACD] [info] extrude false
209
+ [2026-03-11 19:37:02.129] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:37:02.129] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:37:02.129] [CoACD] [info] seed 0
212
+ [2026-03-11 19:37:02.130] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:37:02.149] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:37:02.149] [CoACD] [info] Manifold Check Time: 0.019314s
215
+ [2026-03-11 19:37:02.154] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:37:02.154] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:37:02.154] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:37:02.206] [CoACD] [info] Preprocess Time: 0.808081s
219
+ [2026-03-11 19:37:02.207] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:37:02.207] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:37:02.207] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:37:02.207] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:37:02.207] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:37:07.982] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:37:07.982] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:37:07.983] [CoACD] [info] Processing [50.0%]
227
+ [2026-03-11 19:37:07.987] [CoACD] [info] Processing [0.0%]
228
+ [2026-03-11 19:37:11.238] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:37:11.238] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:37:11.238] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 19:37:11.238] [CoACD] [info] Processing [50.0%]
232
+ [2026-03-11 19:37:11.238] [CoACD] [info] Processing [75.0%]
233
+ [2026-03-11 19:37:11.238] [CoACD] [info] Processing [25.0%]
234
+ [2026-03-11 19:37:13.455] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:37:13.456] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [62.5%]
238
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [12.5%]
239
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [25.0%]
240
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [75.0%]
241
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [87.5%]
242
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [50.0%]
243
+ [2026-03-11 19:37:13.456] [CoACD] [info] Processing [37.5%]
244
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:37:14.945] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [42.9%]
247
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [85.7%]
248
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [28.6%]
249
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [71.4%]
252
+ [2026-03-11 19:37:14.945] [CoACD] [info] Processing [14.3%]
253
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:37:16.233] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [37.5%]
257
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [62.5%]
258
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [50.0%]
259
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [12.5%]
260
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [25.0%]
261
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [75.0%]
262
+ [2026-03-11 19:37:16.233] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 19:37:17.172] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:37:17.172] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:37:17.172] [CoACD] [info] Processing [25.0%]
266
+ [2026-03-11 19:37:17.172] [CoACD] [info] Processing [0.0%]
267
+ [2026-03-11 19:37:17.172] [CoACD] [info] Processing [87.5%]
268
+ [2026-03-11 19:37:17.172] [CoACD] [info] Processing [50.0%]
269
+ [2026-03-11 19:37:17.172] [CoACD] [info] Processing [75.0%]
270
+ [2026-03-11 19:37:17.183] [CoACD] [info] Processing [12.5%]
271
+ [2026-03-11 19:37:17.184] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 19:37:17.184] [CoACD] [info] Processing [37.5%]
273
+ [2026-03-11 19:37:17.643] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:37:17.643] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:37:17.643] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 19:37:17.643] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 19:37:17.648] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:37:17.648] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:37:20.974] [CoACD] [warning] Max concavity 0.0689180710675931 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:37:20.974] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:37:20.994] [CoACD] [info] Compute Time: 18.787267977837473s
282
+ [2026-03-11 19:37:20.994] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:37:21] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:37:22] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:37:22] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:37:22] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:23] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:24] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:25] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <0c2d2f2>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:25] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:25] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:25] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:25.131] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:25.132] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:25.132] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:25.132] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:25.132] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:25.132] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:25.132] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:25.132] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:25.132] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:25.132] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:25.132] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:25.132] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:25.132] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:25.132] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:25.132] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:25.132] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:25.135] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:25.135] [CoACD] [info] Manifold Check Time: 0.002939s
321
+ [2026-03-11 19:37:25.135] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:25.135] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:25.135] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:25.153] [CoACD] [info] Preprocess Time: 0.272798s
325
+ [2026-03-11 19:37:25.153] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:25.153] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:25.153] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:25.153] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:25.153] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:27.441] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:27.441] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:27.441] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:27.441] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:28.739] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:28.739] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:28.739] [CoACD] [info] Processing [50.0%]
337
+ [2026-03-11 19:37:28.739] [CoACD] [info] Processing [0.0%]
338
+ [2026-03-11 19:37:29.708] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:29.708] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:29.708] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:29.708] [CoACD] [info] Processing [25.0%]
342
+ [2026-03-11 19:37:29.708] [CoACD] [info] Processing [75.0%]
343
+ [2026-03-11 19:37:29.708] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 19:37:30.476] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:30.477] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [37.5%]
347
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [87.5%]
348
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [50.0%]
349
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [12.5%]
350
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [62.5%]
351
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [25.0%]
352
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [75.0%]
353
+ [2026-03-11 19:37:30.477] [CoACD] [info] Processing [0.0%]
354
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:31.072] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [75.0%]
357
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [12.5%]
358
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [37.5%]
359
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [25.0%]
360
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [87.5%]
361
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [62.5%]
362
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [50.0%]
363
+ [2026-03-11 19:37:31.072] [CoACD] [info] Processing [0.0%]
364
+ [2026-03-11 19:37:31.634] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:31.634] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:31.634] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 19:37:31.634] [CoACD] [info] Processing [54.5%]
368
+ [2026-03-11 19:37:31.634] [CoACD] [info] Processing [27.3%]
369
+ [2026-03-11 19:37:31.634] [CoACD] [info] Processing [68.2%]
370
+ [2026-03-11 19:37:31.634] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 19:37:31.634] [CoACD] [info] Processing [81.8%]
372
+ [2026-03-11 19:37:31.651] [CoACD] [info] Processing [40.9%]
373
+ [2026-03-11 19:37:31.652] [CoACD] [info] Processing [13.6%]
374
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:31.989] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [0.0%]
377
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [37.5%]
378
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [50.0%]
379
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [12.5%]
380
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [62.5%]
381
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [87.5%]
382
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [75.0%]
383
+ [2026-03-11 19:37:31.989] [CoACD] [info] Processing [25.0%]
384
+ [2026-03-11 19:37:31.997] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:31.997] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:32.735] [CoACD] [warning] Max concavity 0.05655532773610947 exceeds the threshold 0.05 due to 16 convex hull limitation
387
+ [2026-03-11 19:37:32.735] [CoACD] [info] - Simplify Convex Hulls
388
+ [2026-03-11 19:37:32.999] [CoACD] [info] Compute Time: 7.845584487076849s
389
+ [2026-03-11 19:37:32.999] [CoACD] [info] # Convex Hulls: 16
390
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 56.
391
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 57.
392
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 58.
393
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 59.
394
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 60.
395
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 61.
396
+ [Genesis] [19:37:33] [INFO] Preprocessing geom idx 62.
397
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 63.
398
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 64.
399
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 65.
400
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 66.
401
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 67.
402
+ [Genesis] [19:37:34] [INFO] Preprocessing geom idx 68.
403
+ [Genesis] [19:37:35] [INFO] Preprocessing geom idx 69.
404
+ [Genesis] [19:37:35] [INFO] Preprocessing geom idx 70.
405
+ [Genesis] [19:37:35] [INFO] Preprocessing geom idx 71.
406
+ [Genesis] [19:37:35] [INFO] Building scene <5cd9ec8>...
407
+ [Genesis] [19:37:37] [WARNING] Reference robot position exceeds joint limits.
408
+ [Genesis] [19:37:42] [INFO] Compiling simulation kernels...
409
+ [Genesis] [19:38:01] [INFO] Building visualizer...
410
+ next_episode=980 next_index=9731
411
+ [Genesis] [19:47:11] [INFO] 💤 Exiting Genesis and caching compiled kernels...
412
+ Batch batch_021 done!
413
+
414
+ ──────────────────────────────────────────
415
+ Batch 21: batch_022 (start_episode=987, n_episodes=46)
416
+ ──────────────────────────────────────────
417
+ [Genesis] [19:47:22] [INFO] ╭───────────────────────────────────────────────╮
418
+ [Genesis] [19:47:22] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
419
+ [Genesis] [19:47:22] [INFO] ╰───────────────────────────────────────────────╯
420
+ [Genesis] [19:47:22] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
421
+ [Genesis] [19:47:22] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
422
+ [Genesis] [19:47:26] [INFO] Scene <5dedec5> created.
423
+ [Genesis] [19:47:26] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <1ad40a4>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:47:26] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <10cd227>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
425
+ [Genesis] [19:47:27] [INFO] Applying offset to base link's pose with user provided value in morph.
426
+ [Genesis] [19:47:29] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <0efef17>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
427
+ [Genesis] [19:47:29] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
428
+ [Genesis] [19:47:29] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <3e56d08>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
429
+ [Genesis] [19:47:29] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
430
+ [Genesis] [19:47:29] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
431
+ [Genesis] [19:47:29] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <63675b8>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
432
+ [Genesis] [19:47:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
433
+ [Genesis] [19:47:30] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
434
+ [Genesis] [19:47:30] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <8a43b24>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
435
+ [Genesis] [19:47:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
436
+ [Genesis] [19:47:30] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
437
+ [Genesis] [19:47:30] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <37cf002>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
438
+ [Genesis] [19:47:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
439
+ [Genesis] [19:47:30] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
440
+ [Genesis] [19:47:30] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <64b52de>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
441
+ [Genesis] [19:47:30] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
442
+ [Genesis] [19:47:30] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
443
+ [Genesis] [19:47:30] [INFO] Building scene <5dedec5>...
444
+ [Genesis] [19:47:32] [WARNING] Reference robot position exceeds joint limits.
445
+ [Genesis] [19:47:34] [INFO] Compiling simulation kernels...
446
+ [Genesis] [19:47:34] [INFO] Building visualizer...
447
+ next_episode=1024 next_index=7781
448
+ [Genesis] [19:54:44] [INFO] 💤 Exiting Genesis and caching compiled kernels...
449
+ Batch batch_022 done!
450
+
451
+ ──────────────────────────────────────────
452
+ Batch 22: batch_023 (start_episode=1033, n_episodes=44)
453
+ ──────────────────────────────────────────
454
+ [Genesis] [19:54:54] [INFO] ╭───────────────────────────────────────────────╮
455
+ [Genesis] [19:54:54] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
456
+ [Genesis] [19:54:54] [INFO] ╰───────────────────────────────────────────────╯
457
+ [Genesis] [19:54:55] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
458
+ [Genesis] [19:54:55] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
459
+ [Genesis] [19:54:57] [INFO] Scene <a54365f> created.
460
+ [Genesis] [19:54:57] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <b0c9143>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:54:57] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <dd630b6>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
462
+ [Genesis] [19:54:59] [INFO] Applying offset to base link's pose with user provided value in morph.
463
+ [Genesis] [19:55:00] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <856cdc0>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
464
+ [Genesis] [19:55:00] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
465
+ [Genesis] [19:55:00] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <00776dd>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
466
+ [Genesis] [19:55:00] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
467
+ [Genesis] [19:55:00] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
468
+ [Genesis] [19:55:01] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <eba20b9>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
469
+ [Genesis] [19:55:01] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
470
+ [Genesis] [19:55:01] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
471
+ [Genesis] [19:55:01] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <0b64aef>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
472
+ [Genesis] [19:55:01] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
473
+ [Genesis] [19:55:01] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
474
+ [Genesis] [19:55:01] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <53fd75b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
475
+ [Genesis] [19:55:01] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
476
+ [Genesis] [19:55:01] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
477
+ [Genesis] [19:55:01] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <906f14e>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
478
+ [Genesis] [19:55:01] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
479
+ [Genesis] [19:55:01] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
480
+ [Genesis] [19:55:01] [INFO] Building scene <a54365f>...
481
+ [Genesis] [19:55:03] [WARNING] Reference robot position exceeds joint limits.
482
+ [Genesis] [19:55:04] [INFO] Compiling simulation kernels...
483
+ [Genesis] [19:55:05] [INFO] Building visualizer...
484
+ next_episode=1074 next_index=8368
485
+ [Genesis] [20:02:40] [INFO] 💤 Exiting Genesis and caching compiled kernels...
486
+ Batch batch_023 done!
487
+
488
+ ──────────────────────────────────────────
489
+ Batch 23: batch_024 (start_episode=1077, n_episodes=46)
490
+ ──────────────────────────────────────────
491
+ [Genesis] [20:02:51] [INFO] ╭──────────────────────────��────────────────────╮
492
+ [Genesis] [20:02:51] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
493
+ [Genesis] [20:02:51] [INFO] ╰───────────────────────────────────────────────╯
494
+ [Genesis] [20:02:52] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
495
+ [Genesis] [20:02:52] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
496
+ [Genesis] [20:02:54] [INFO] Scene <c84eb5a> created.
497
+ [Genesis] [20:02:54] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <4632904>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
498
+ [Genesis] [20:02:54] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <0930939>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
499
+ [Genesis] [20:02:56] [INFO] Applying offset to base link's pose with user provided value in morph.
500
+ [Genesis] [20:02:57] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <f9fc393>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
501
+ [Genesis] [20:02:57] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
502
+ [Genesis] [20:02:57] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <4abcefa>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
503
+ [Genesis] [20:02:57] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
504
+ [Genesis] [20:02:57] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
505
+ [Genesis] [20:02:57] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <75a9507>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
506
+ [Genesis] [20:02:58] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
507
+ [Genesis] [20:02:58] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
508
+ [Genesis] [20:02:58] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <f43d8cc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
509
+ [Genesis] [20:02:58] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
510
+ [Genesis] [20:02:58] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
511
+ [Genesis] [20:02:58] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <0a17589>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
512
+ [Genesis] [20:02:58] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
513
+ [Genesis] [20:02:58] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
514
+ [Genesis] [20:02:58] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <8c27499>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
515
+ [Genesis] [20:02:58] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
516
+ [Genesis] [20:02:58] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
517
+ [Genesis] [20:02:58] [INFO] Building scene <c84eb5a>...
518
+ [Genesis] [20:03:00] [WARNING] Reference robot position exceeds joint limits.
519
+ [Genesis] [20:03:01] [INFO] Compiling simulation kernels...
520
+ [Genesis] [20:03:02] [INFO] Building visualizer...
521
+ next_episode=1117 next_index=8337
522
+ [Genesis] [20:10:38] [INFO] 💤 Exiting Genesis and caching compiled kernels...
523
+ Batch batch_024 done!
524
+
525
+ ==========================================
526
+ Worker 5 complete!
527
+ ==========================================
meta/_logs/replay_204436_6.err ADDED
@@ -0,0 +1,463 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:58,130 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_025
2
+ 2026-03-11 19:36:03,857 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:36:06,250 [INFO] gs_gym.envs.benchgen.loader: Collected 49 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:36:06,250 [INFO] __main__: Loaded 49 trajectories for export
5
+ 2026-03-11 19:36:06,443 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:36:06,443 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:36:06,453 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:36:06,453 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:36:06,453 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:36:07,096 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:36:07,097 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:36:09,846 [INFO] genesis: Scene ~~~<<17d9bff>>~~~ created.
13
+ 2026-03-11 19:36:09,847 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<66cc927>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:36:09,912 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:36:10,713 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<b231d20>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:36:12,106 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:36:12,152 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:12,570 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:12,934 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:13,606 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:14,476 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:15,125 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:15,564 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:16,226 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:16,917 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:17,314 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:17,857 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:18,597 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:19,160 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:19,956 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:21,018 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:21,539 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<a8c3657>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:21,564 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:21,578 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:21,967 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<e474693>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:22,047 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:22,065 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:22,076 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:31,345 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:32,050 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:32,688 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:33,348 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<934c42f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:33,460 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:33,490 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:33,506 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:43,756 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:43,895 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:44,056 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:44,342 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:44,448 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:44,643 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<5971998>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:44,750 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:44,765 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:44,773 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:36:52,173 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:36:52,529 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:36:52,988 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:36:53,496 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:36:53,595 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:36:53,944 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<af49457>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:36:54,063 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:36:54,142 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:36:54,172 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:37:13,126 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:37:13,421 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:37:13,663 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:37:13,954 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:37:14,012 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:37:14,093 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:37:14,153 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:37:14,451 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:37:14,772 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:37:15,191 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:15,527 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:15,783 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:16,036 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:16,270 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:16,506 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:16,798 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:17,101 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<09fd542>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:17,189 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:17,205 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:17,211 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:25,134 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:25,226 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:25,338 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:25,438 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:25,774 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:25,844 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:26,212 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:26,438 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:26,527 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:26,578 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:26,688 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:26,749 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:27,014 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:27,421 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:27,489 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:27,540 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:27,611 [INFO] genesis: Building scene ~~~<<17d9bff>>~~~...
113
+ 2026-03-11 19:37:30,117 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:35,123 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:37:53,574 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:37:53,822 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:37:54,564 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:37:54,564 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:38:07,247 [INFO] gs_gym.envs.benchgen.export: Saved episode 1123: 207 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:18,262 [INFO] gs_gym.envs.benchgen.export: Saved episode 1124: 224 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:25,889 [INFO] gs_gym.envs.benchgen.export: Saved episode 1125: 162 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:37,721 [INFO] gs_gym.envs.benchgen.export: Saved episode 1126: 245 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
123
+ 2026-03-11 19:38:46,076 [INFO] gs_gym.envs.benchgen.export: Saved episode 1127: 176 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
124
+ 2026-03-11 19:38:56,696 [INFO] gs_gym.envs.benchgen.export: Saved episode 1128: 205 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
125
+ 2026-03-11 19:39:08,828 [INFO] gs_gym.envs.benchgen.export: Saved episode 1129: 229 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
126
+ 2026-03-11 19:39:11,023 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1130: upside-down gripper detected, task='Pick up the banana and place it in the basket'
127
+ 2026-03-11 19:39:26,364 [INFO] gs_gym.envs.benchgen.export: Saved episode 1130: 282 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
128
+ 2026-03-11 19:39:47,001 [INFO] gs_gym.envs.benchgen.export: Saved episode 1131: 265 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
129
+ 2026-03-11 19:39:57,335 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1132: upside-down gripper detected, task='Pick up the banana and place it in the basket'
130
+ 2026-03-11 19:40:10,701 [INFO] gs_gym.envs.benchgen.export: Saved episode 1132: 211 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
131
+ 2026-03-11 19:40:20,836 [INFO] gs_gym.envs.benchgen.export: Saved episode 1133: 184 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
132
+ 2026-03-11 19:40:29,272 [INFO] gs_gym.envs.benchgen.export: Saved episode 1134: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
133
+ 2026-03-11 19:40:40,263 [INFO] gs_gym.envs.benchgen.export: Saved episode 1135: 223 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
134
+ 2026-03-11 19:40:53,709 [INFO] gs_gym.envs.benchgen.export: Saved episode 1136: 234 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
135
+ 2026-03-11 19:41:07,659 [INFO] gs_gym.envs.benchgen.export: Saved episode 1137: 214 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
136
+ 2026-03-11 19:41:15,813 [INFO] gs_gym.envs.benchgen.export: Saved episode 1138: 157 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
137
+ 2026-03-11 19:41:27,950 [INFO] gs_gym.envs.benchgen.export: Saved episode 1139: 247 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
138
+ 2026-03-11 19:41:37,028 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1140: upside-down gripper detected, task='Pick up the banana and place it in the basket'
139
+ 2026-03-11 19:41:45,326 [INFO] gs_gym.envs.benchgen.export: Saved episode 1140: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
140
+ 2026-03-11 19:41:57,303 [INFO] gs_gym.envs.benchgen.export: Saved episode 1141: 241 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
141
+ 2026-03-11 19:42:05,496 [INFO] gs_gym.envs.benchgen.export: Saved episode 1142: 157 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
142
+ 2026-03-11 19:42:15,996 [INFO] gs_gym.envs.benchgen.export: Saved episode 1143: 207 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
143
+ 2026-03-11 19:42:20,603 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1144: upside-down gripper detected, task='Pick up the banana and place it in the basket'
144
+ 2026-03-11 19:42:31,219 [INFO] gs_gym.envs.benchgen.export: Saved episode 1144: 208 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
145
+ 2026-03-11 19:42:40,116 [INFO] gs_gym.envs.benchgen.export: Saved episode 1145: 173 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
146
+ 2026-03-11 19:42:48,558 [INFO] gs_gym.envs.benchgen.export: Saved episode 1146: 175 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
147
+ 2026-03-11 19:43:00,507 [INFO] gs_gym.envs.benchgen.export: Saved episode 1147: 231 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
148
+ 2026-03-11 19:43:08,837 [INFO] gs_gym.envs.benchgen.export: Saved episode 1148: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
149
+ 2026-03-11 19:43:16,776 [INFO] gs_gym.envs.benchgen.export: Saved episode 1149: 157 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
150
+ 2026-03-11 19:43:29,403 [INFO] gs_gym.envs.benchgen.export: Saved episode 1150: 254 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
151
+ 2026-03-11 19:43:41,075 [INFO] gs_gym.envs.benchgen.export: Saved episode 1151: 217 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
152
+ 2026-03-11 19:44:01,929 [INFO] gs_gym.envs.benchgen.export: Saved episode 1152: 241 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
153
+ 2026-03-11 19:44:15,804 [INFO] gs_gym.envs.benchgen.export: Saved episode 1153: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
154
+ 2026-03-11 19:44:23,541 [INFO] gs_gym.envs.benchgen.export: Saved episode 1154: 155 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
155
+ 2026-03-11 19:44:35,147 [INFO] gs_gym.envs.benchgen.export: Saved episode 1155: 236 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
156
+ 2026-03-11 19:44:43,141 [INFO] gs_gym.envs.benchgen.export: Saved episode 1156: 154 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
157
+ 2026-03-11 19:44:51,110 [INFO] gs_gym.envs.benchgen.export: Saved episode 1157: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
158
+ 2026-03-11 19:45:04,436 [INFO] gs_gym.envs.benchgen.export: Saved episode 1158: 238 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
159
+ 2026-03-11 19:45:17,829 [INFO] gs_gym.envs.benchgen.export: Saved episode 1159: 216 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
160
+ 2026-03-11 19:45:30,221 [INFO] gs_gym.envs.benchgen.export: Saved episode 1160: 254 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
161
+ 2026-03-11 19:45:37,913 [INFO] gs_gym.envs.benchgen.export: Saved episode 1161: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
162
+ 2026-03-11 19:45:46,090 [INFO] gs_gym.envs.benchgen.export: Saved episode 1162: 160 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
163
+ 2026-03-11 19:45:59,448 [INFO] gs_gym.envs.benchgen.export: Saved episode 1163: 258 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
164
+ 2026-03-11 19:46:13,087 [INFO] gs_gym.envs.benchgen.export: Saved episode 1164: 242 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
165
+ 2026-03-11 19:46:25,476 [INFO] gs_gym.envs.benchgen.export: Saved episode 1165: 232 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
166
+ 2026-03-11 19:46:28,947 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1166: upside-down gripper detected, task='Pick up the banana and place it in the basket'
167
+ 2026-03-11 19:46:37,285 [INFO] gs_gym.envs.benchgen.export: Saved episode 1166: 168 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
168
+ 2026-03-11 19:46:37,287 [INFO] __main__: Export complete: 44 episodes, 9083 frames
169
+ 2026-03-11 19:46:37,287 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
170
+ 2026-03-11 19:46:37,290 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
171
+ 2026-03-11 19:46:38,939 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_026
172
+ 2026-03-11 19:46:43,047 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
173
+ 2026-03-11 19:46:44,527 [INFO] gs_gym.envs.benchgen.loader: Collected 44 trajectories (success only) from 64 trials
174
+ 2026-03-11 19:46:44,527 [INFO] __main__: Loaded 44 trajectories for export
175
+ 2026-03-11 19:46:44,694 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
176
+ 2026-03-11 19:46:44,694 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
177
+ 2026-03-11 19:46:44,701 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
178
+ 2026-03-11 19:46:44,701 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
179
+ 2026-03-11 19:46:44,701 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
180
+ 2026-03-11 19:46:44,969 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
181
+ 2026-03-11 19:46:44,970 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
182
+ 2026-03-11 19:46:46,984 [INFO] genesis: Scene ~~~<<7b52614>>~~~ created.
183
+ 2026-03-11 19:46:46,984 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<c1766e6>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
184
+ 2026-03-11 19:46:47,048 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<e80f566>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
185
+ 2026-03-11 19:46:48,378 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
186
+ 2026-03-11 19:46:50,131 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<16389dc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
187
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
188
+ warnings.warn("pygltflib currently does not remove image data "
189
+ 2026-03-11 19:46:50,157 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
190
+ 2026-03-11 19:46:50,171 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<e5f8252>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
191
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
192
+ warnings.warn("pygltflib currently does not remove image data "
193
+ 2026-03-11 19:46:50,242 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
194
+ 2026-03-11 19:46:50,259 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
195
+ 2026-03-11 19:46:50,295 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<2d00895>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
196
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
197
+ warnings.warn("pygltflib currently does not remove image data "
198
+ 2026-03-11 19:46:50,384 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
199
+ 2026-03-11 19:46:50,412 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
200
+ 2026-03-11 19:46:50,463 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<2c6e3f3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
201
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
202
+ warnings.warn("pygltflib currently does not remove image data "
203
+ 2026-03-11 19:46:50,553 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
204
+ 2026-03-11 19:46:50,568 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
205
+ 2026-03-11 19:46:50,613 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<aebda38>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
206
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
207
+ warnings.warn("pygltflib currently does not remove image data "
208
+ 2026-03-11 19:46:50,725 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
209
+ 2026-03-11 19:46:50,803 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
210
+ 2026-03-11 19:46:50,893 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<64223a2>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
211
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
212
+ warnings.warn("pygltflib currently does not remove image data "
213
+ 2026-03-11 19:46:50,973 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
214
+ 2026-03-11 19:46:50,987 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
215
+ 2026-03-11 19:46:51,051 [INFO] genesis: Building scene ~~~<<7b52614>>~~~...
216
+ 2026-03-11 19:46:52,665 [WARNING] genesis: Reference robot position exceeds joint limits.
217
+ 2026-03-11 19:46:53,866 [INFO] genesis: Compiling simulation kernels...
218
+ 2026-03-11 19:46:54,547 [INFO] genesis: Building visualizer...
219
+ 2026-03-11 19:46:54,748 [INFO] __main__: Environment created successfully
220
+ 2026-03-11 19:46:55,228 [INFO] __main__: Loaded pre-built task map with 1 tasks
221
+ 2026-03-11 19:46:55,228 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
222
+ 2026-03-11 19:47:24,583 [INFO] gs_gym.envs.benchgen.export: Saved episode 1172: 571 frames (20 static removed), task='Pick up the banana and place it in the basket', success=True
223
+ 2026-03-11 19:47:33,136 [INFO] gs_gym.envs.benchgen.export: Saved episode 1173: 175 frames, task='Pick up the banana and place it in the basket', success=True
224
+ 2026-03-11 19:47:44,697 [INFO] gs_gym.envs.benchgen.export: Saved episode 1174: 229 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
225
+ 2026-03-11 19:47:57,246 [INFO] gs_gym.envs.benchgen.export: Saved episode 1175: 236 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
226
+ 2026-03-11 19:48:09,508 [INFO] gs_gym.envs.benchgen.export: Saved episode 1176: 252 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
227
+ 2026-03-11 19:48:23,299 [INFO] gs_gym.envs.benchgen.export: Saved episode 1177: 294 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
228
+ 2026-03-11 19:48:30,946 [INFO] gs_gym.envs.benchgen.export: Saved episode 1178: 160 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
229
+ 2026-03-11 19:48:41,928 [INFO] gs_gym.envs.benchgen.export: Saved episode 1179: 211 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
230
+ 2026-03-11 19:48:53,232 [INFO] gs_gym.envs.benchgen.export: Saved episode 1180: 217 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
231
+ 2026-03-11 19:49:05,534 [INFO] gs_gym.envs.benchgen.export: Saved episode 1181: 242 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
232
+ 2026-03-11 19:49:13,436 [INFO] gs_gym.envs.benchgen.export: Saved episode 1182: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
233
+ 2026-03-11 19:49:41,927 [INFO] gs_gym.envs.benchgen.export: Saved episode 1183: 578 frames (22 static removed), task='Pick up the banana and place it in the basket', success=True
234
+ 2026-03-11 19:49:52,294 [INFO] gs_gym.envs.benchgen.export: Saved episode 1184: 161 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
235
+ 2026-03-11 19:50:06,370 [INFO] gs_gym.envs.benchgen.export: Saved episode 1185: 202 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
236
+ 2026-03-11 19:50:15,636 [INFO] gs_gym.envs.benchgen.export: Saved episode 1186: 172 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
237
+ 2026-03-11 19:50:28,790 [INFO] gs_gym.envs.benchgen.export: Saved episode 1187: 225 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
238
+ 2026-03-11 19:50:38,590 [INFO] gs_gym.envs.benchgen.export: Saved episode 1188: 160 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
239
+ 2026-03-11 19:50:49,941 [INFO] gs_gym.envs.benchgen.export: Saved episode 1189: 229 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
240
+ 2026-03-11 19:50:57,661 [INFO] gs_gym.envs.benchgen.export: Saved episode 1190: 164 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
241
+ 2026-03-11 19:51:06,847 [INFO] gs_gym.envs.benchgen.export: Saved episode 1191: 184 frames, task='Pick up the banana and place it in the basket', success=True
242
+ 2026-03-11 19:51:14,593 [INFO] gs_gym.envs.benchgen.export: Saved episode 1192: 157 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
243
+ 2026-03-11 19:51:18,991 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1193: upside-down gripper detected, task='Pick up the banana and place it in the basket'
244
+ 2026-03-11 19:51:30,513 [INFO] gs_gym.envs.benchgen.export: Saved episode 1193: 218 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
245
+ 2026-03-11 19:51:34,877 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1194: upside-down gripper detected, task='Pick up the banana and place it in the basket'
246
+ 2026-03-11 19:51:43,198 [INFO] gs_gym.envs.benchgen.export: Saved episode 1194: 166 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
247
+ 2026-03-11 19:51:51,275 [INFO] gs_gym.envs.benchgen.export: Saved episode 1195: 161 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
248
+ 2026-03-11 19:51:59,656 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1196: upside-down gripper detected, task='Pick up the banana and place it in the basket'
249
+ 2026-03-11 19:52:11,444 [INFO] gs_gym.envs.benchgen.export: Saved episode 1196: 246 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
250
+ 2026-03-11 19:52:20,190 [INFO] gs_gym.envs.benchgen.export: Saved episode 1197: 175 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
251
+ 2026-03-11 19:52:31,053 [INFO] gs_gym.envs.benchgen.export: Saved episode 1198: 205 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
252
+ 2026-03-11 19:52:42,340 [INFO] gs_gym.envs.benchgen.export: Saved episode 1199: 230 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
253
+ 2026-03-11 19:52:52,960 [INFO] gs_gym.envs.benchgen.export: Saved episode 1200: 207 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
254
+ 2026-03-11 19:53:05,156 [INFO] gs_gym.envs.benchgen.export: Saved episode 1201: 242 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
255
+ 2026-03-11 19:53:13,622 [INFO] gs_gym.envs.benchgen.export: Saved episode 1202: 164 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
256
+ 2026-03-11 19:53:29,427 [INFO] gs_gym.envs.benchgen.export: Saved episode 1203: 306 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
257
+ 2026-03-11 19:53:43,225 [INFO] gs_gym.envs.benchgen.export: Saved episode 1204: 292 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
258
+ 2026-03-11 19:53:54,103 [INFO] gs_gym.envs.benchgen.export: Saved episode 1205: 213 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
259
+ 2026-03-11 19:54:08,924 [INFO] gs_gym.envs.benchgen.export: Saved episode 1206: 288 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
260
+ 2026-03-11 19:54:17,683 [INFO] gs_gym.envs.benchgen.export: Saved episode 1207: 164 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
261
+ 2026-03-11 19:54:29,419 [INFO] gs_gym.envs.benchgen.export: Saved episode 1208: 211 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
262
+ 2026-03-11 19:54:37,500 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1209: upside-down gripper detected, task='Pick up the banana and place it in the basket'
263
+ 2026-03-11 19:54:50,232 [INFO] gs_gym.envs.benchgen.export: Saved episode 1209: 236 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
264
+ 2026-03-11 19:54:58,985 [INFO] gs_gym.envs.benchgen.export: Saved episode 1210: 169 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
265
+ 2026-03-11 19:55:02,792 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1211: upside-down gripper detected, task='Pick up the banana and place it in the basket'
266
+ 2026-03-11 19:55:02,793 [INFO] __main__: Export complete: 39 episodes, 8877 frames
267
+ 2026-03-11 19:55:02,793 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
268
+ 2026-03-11 19:55:02,799 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
269
+ 2026-03-11 19:55:04,257 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_027
270
+ 2026-03-11 19:55:09,806 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
271
+ 2026-03-11 19:55:11,533 [INFO] gs_gym.envs.benchgen.loader: Collected 42 trajectories (success only) from 63 trials
272
+ 2026-03-11 19:55:11,534 [INFO] __main__: Loaded 42 trajectories for export
273
+ 2026-03-11 19:55:11,695 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
274
+ 2026-03-11 19:55:11,695 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
275
+ 2026-03-11 19:55:11,704 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
276
+ 2026-03-11 19:55:11,704 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
277
+ 2026-03-11 19:55:11,704 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
278
+ 2026-03-11 19:55:11,977 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
279
+ 2026-03-11 19:55:11,977 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
280
+ 2026-03-11 19:55:14,149 [INFO] genesis: Scene ~~~<<63d2ba4>>~~~ created.
281
+ 2026-03-11 19:55:14,149 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<08342bf>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
282
+ 2026-03-11 19:55:14,225 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<8071cc9>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
283
+ 2026-03-11 19:55:15,592 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
284
+ 2026-03-11 19:55:17,383 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<384865a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
285
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
286
+ warnings.warn("pygltflib currently does not remove image data "
287
+ 2026-03-11 19:55:17,409 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
288
+ 2026-03-11 19:55:17,424 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<e162d44>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
289
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
290
+ warnings.warn("pygltflib currently does not remove image data "
291
+ 2026-03-11 19:55:17,496 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
292
+ 2026-03-11 19:55:17,514 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
293
+ 2026-03-11 19:55:17,550 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<c395c9f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
294
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
295
+ warnings.warn("pygltflib currently does not remove image data "
296
+ 2026-03-11 19:55:17,642 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
297
+ 2026-03-11 19:55:17,670 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
298
+ 2026-03-11 19:55:17,722 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<80d051b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
299
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
300
+ warnings.warn("pygltflib currently does not remove image data "
301
+ 2026-03-11 19:55:17,811 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
302
+ 2026-03-11 19:55:17,826 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
303
+ 2026-03-11 19:55:17,872 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<3a6b23c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
304
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
305
+ warnings.warn("pygltflib currently does not remove image data "
306
+ 2026-03-11 19:55:17,977 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
307
+ 2026-03-11 19:55:18,047 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
308
+ 2026-03-11 19:55:18,138 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<00870e1>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
309
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
310
+ warnings.warn("pygltflib currently does not remove image data "
311
+ 2026-03-11 19:55:18,220 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
312
+ 2026-03-11 19:55:18,234 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
313
+ 2026-03-11 19:55:18,299 [INFO] genesis: Building scene ~~~<<63d2ba4>>~~~...
314
+ 2026-03-11 19:55:19,918 [WARNING] genesis: Reference robot position exceeds joint limits.
315
+ 2026-03-11 19:55:21,118 [INFO] genesis: Compiling simulation kernels...
316
+ 2026-03-11 19:55:21,814 [INFO] genesis: Building visualizer...
317
+ 2026-03-11 19:55:22,035 [INFO] __main__: Environment created successfully
318
+ 2026-03-11 19:55:22,713 [INFO] __main__: Loaded pre-built task map with 1 tasks
319
+ 2026-03-11 19:55:22,713 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
320
+ 2026-03-11 19:55:38,282 [INFO] gs_gym.envs.benchgen.export: Saved episode 1216: 225 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
321
+ 2026-03-11 19:56:07,945 [INFO] gs_gym.envs.benchgen.export: Saved episode 1217: 602 frames (20 static removed), task='Pick up the banana and place it in the basket', success=True
322
+ 2026-03-11 19:56:20,246 [INFO] gs_gym.envs.benchgen.export: Saved episode 1218: 262 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
323
+ 2026-03-11 19:56:28,109 [INFO] gs_gym.envs.benchgen.export: Saved episode 1219: 158 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
324
+ 2026-03-11 19:56:40,393 [INFO] gs_gym.envs.benchgen.export: Saved episode 1220: 248 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
325
+ 2026-03-11 19:56:53,024 [INFO] gs_gym.envs.benchgen.export: Saved episode 1221: 246 frames (11 static removed), task='Pick up the banana and place it in the basket', success=True
326
+ 2026-03-11 19:57:04,917 [INFO] gs_gym.envs.benchgen.export: Saved episode 1222: 227 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
327
+ 2026-03-11 19:57:12,882 [INFO] gs_gym.envs.benchgen.export: Saved episode 1223: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
328
+ 2026-03-11 19:57:24,501 [INFO] gs_gym.envs.benchgen.export: Saved episode 1224: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
329
+ 2026-03-11 19:57:26,921 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1225: upside-down gripper detected, task='Pick up the banana and place it in the basket'
330
+ 2026-03-11 19:57:54,170 [INFO] gs_gym.envs.benchgen.export: Saved episode 1225: 559 frames (22 static removed), task='Pick up the banana and place it in the basket', success=True
331
+ 2026-03-11 19:58:05,663 [INFO] gs_gym.envs.benchgen.export: Saved episode 1226: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
332
+ 2026-03-11 19:58:19,492 [INFO] gs_gym.envs.benchgen.export: Saved episode 1227: 235 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
333
+ 2026-03-11 19:58:34,974 [INFO] gs_gym.envs.benchgen.export: Saved episode 1228: 266 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:58:43,711 [INFO] gs_gym.envs.benchgen.export: Saved episode 1229: 151 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
335
+ 2026-03-11 19:58:57,736 [INFO] gs_gym.envs.benchgen.export: Saved episode 1230: 244 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:59:10,064 [INFO] gs_gym.envs.benchgen.export: Saved episode 1231: 236 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
337
+ 2026-03-11 19:59:18,454 [INFO] gs_gym.envs.benchgen.export: Saved episode 1232: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
338
+ 2026-03-11 19:59:30,138 [INFO] gs_gym.envs.benchgen.export: Saved episode 1233: 242 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
339
+ 2026-03-11 19:59:42,044 [INFO] gs_gym.envs.benchgen.export: Saved episode 1234: 229 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
340
+ 2026-03-11 19:59:44,191 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1235: upside-down gripper detected, task='Pick up the banana and place it in the basket'
341
+ 2026-03-11 19:59:52,674 [INFO] gs_gym.envs.benchgen.export: Saved episode 1235: 166 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
342
+ 2026-03-11 20:00:04,239 [INFO] gs_gym.envs.benchgen.export: Saved episode 1236: 223 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
343
+ 2026-03-11 20:00:15,546 [INFO] gs_gym.envs.benchgen.export: Saved episode 1237: 214 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
344
+ 2026-03-11 20:00:23,645 [INFO] gs_gym.envs.benchgen.export: Saved episode 1238: 153 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
345
+ 2026-03-11 20:00:50,623 [INFO] gs_gym.envs.benchgen.export: Saved episode 1239: 557 frames (19 static removed), task='Pick up the banana and place it in the basket', success=True
346
+ 2026-03-11 20:00:59,514 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1240: upside-down gripper detected, task='Pick up the banana and place it in the basket'
347
+ 2026-03-11 20:01:07,453 [INFO] gs_gym.envs.benchgen.export: Saved episode 1240: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
348
+ 2026-03-11 20:01:10,733 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1241: upside-down gripper detected, task='Pick up the banana and place it in the basket'
349
+ 2026-03-11 20:01:18,752 [INFO] gs_gym.envs.benchgen.export: Saved episode 1241: 164 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 20:01:30,870 [INFO] gs_gym.envs.benchgen.export: Saved episode 1242: 248 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
351
+ 2026-03-11 20:01:42,587 [INFO] gs_gym.envs.benchgen.export: Saved episode 1243: 234 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
352
+ 2026-03-11 20:01:58,021 [INFO] gs_gym.envs.benchgen.export: Saved episode 1244: 329 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
353
+ 2026-03-11 20:02:11,626 [INFO] gs_gym.envs.benchgen.export: Saved episode 1245: 197 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
354
+ 2026-03-11 20:02:25,622 [INFO] gs_gym.envs.benchgen.export: Saved episode 1246: 172 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:02:40,435 [INFO] gs_gym.envs.benchgen.export: Saved episode 1247: 234 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:02:50,271 [INFO] gs_gym.envs.benchgen.export: Saved episode 1248: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
357
+ 2026-03-11 20:03:20,271 [INFO] gs_gym.envs.benchgen.export: Saved episode 1249: 639 frames (21 static removed), task='Pick up the banana and place it in the basket', success=True
358
+ 2026-03-11 20:03:32,984 [INFO] gs_gym.envs.benchgen.export: Saved episode 1250: 235 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
359
+ 2026-03-11 20:03:45,371 [INFO] gs_gym.envs.benchgen.export: Saved episode 1251: 238 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
360
+ 2026-03-11 20:03:53,613 [INFO] gs_gym.envs.benchgen.export: Saved episode 1252: 170 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
361
+ 2026-03-11 20:04:10,216 [INFO] gs_gym.envs.benchgen.export: Saved episode 1253: 285 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
362
+ 2026-03-11 20:04:10,217 [INFO] __main__: Export complete: 38 episodes, 9623 frames
363
+ 2026-03-11 20:04:10,217 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
364
+ 2026-03-11 20:04:10,226 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
365
+ 2026-03-11 20:04:11,899 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_028
366
+ 2026-03-11 20:04:16,626 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
367
+ 2026-03-11 20:04:18,187 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
368
+ 2026-03-11 20:04:18,188 [INFO] __main__: Loaded 45 trajectories for export
369
+ 2026-03-11 20:04:18,353 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
370
+ 2026-03-11 20:04:18,353 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
371
+ 2026-03-11 20:04:18,360 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
372
+ 2026-03-11 20:04:18,360 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
373
+ 2026-03-11 20:04:18,360 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
374
+ 2026-03-11 20:04:18,629 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
375
+ 2026-03-11 20:04:18,630 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
376
+ 2026-03-11 20:04:20,688 [INFO] genesis: Scene ~~~<<94b1c6e>>~~~ created.
377
+ 2026-03-11 20:04:20,689 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<68ae0e6>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
378
+ 2026-03-11 20:04:20,757 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<8e8c30f>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
379
+ 2026-03-11 20:04:22,114 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
380
+ 2026-03-11 20:04:23,888 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<d4aeac5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
381
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
382
+ warnings.warn("pygltflib currently does not remove image data "
383
+ 2026-03-11 20:04:23,914 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
384
+ 2026-03-11 20:04:23,929 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<e7709bc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
385
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
386
+ warnings.warn("pygltflib currently does not remove image data "
387
+ 2026-03-11 20:04:24,001 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
388
+ 2026-03-11 20:04:24,018 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
389
+ 2026-03-11 20:04:24,054 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<5cfcd6d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
390
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
391
+ warnings.warn("pygltflib currently does not remove image data "
392
+ 2026-03-11 20:04:24,147 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
393
+ 2026-03-11 20:04:24,175 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
394
+ 2026-03-11 20:04:24,227 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<fb12fe7>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
395
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
396
+ warnings.warn("pygltflib currently does not remove image data "
397
+ 2026-03-11 20:04:24,316 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
398
+ 2026-03-11 20:04:24,331 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
399
+ 2026-03-11 20:04:24,376 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<31fc7d9>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
400
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
401
+ warnings.warn("pygltflib currently does not remove image data "
402
+ 2026-03-11 20:04:24,482 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
403
+ 2026-03-11 20:04:24,551 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
404
+ 2026-03-11 20:04:24,641 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<73c0293>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
405
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
406
+ warnings.warn("pygltflib currently does not remove image data "
407
+ 2026-03-11 20:04:24,721 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
408
+ 2026-03-11 20:04:24,736 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
409
+ 2026-03-11 20:04:24,801 [INFO] genesis: Building scene ~~~<<94b1c6e>>~~~...
410
+ 2026-03-11 20:04:26,411 [WARNING] genesis: Reference robot position exceeds joint limits.
411
+ 2026-03-11 20:04:27,606 [INFO] genesis: Compiling simulation kernels...
412
+ 2026-03-11 20:04:28,287 [INFO] genesis: Building visualizer...
413
+ 2026-03-11 20:04:28,487 [INFO] __main__: Environment created successfully
414
+ 2026-03-11 20:04:28,946 [INFO] __main__: Loaded pre-built task map with 1 tasks
415
+ 2026-03-11 20:04:28,946 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
416
+ 2026-03-11 20:04:40,718 [INFO] gs_gym.envs.benchgen.export: Saved episode 1258: 226 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
417
+ 2026-03-11 20:04:48,652 [INFO] gs_gym.envs.benchgen.export: Saved episode 1259: 156 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
418
+ 2026-03-11 20:04:59,862 [INFO] gs_gym.envs.benchgen.export: Saved episode 1260: 222 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
419
+ 2026-03-11 20:05:10,384 [INFO] gs_gym.envs.benchgen.export: Saved episode 1261: 200 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
420
+ 2026-03-11 20:05:19,251 [INFO] gs_gym.envs.benchgen.export: Saved episode 1262: 171 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
421
+ 2026-03-11 20:05:30,399 [INFO] gs_gym.envs.benchgen.export: Saved episode 1263: 222 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
422
+ 2026-03-11 20:05:40,751 [INFO] gs_gym.envs.benchgen.export: Saved episode 1264: 217 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
423
+ 2026-03-11 20:05:49,138 [INFO] gs_gym.envs.benchgen.export: Saved episode 1265: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
424
+ 2026-03-11 20:06:00,921 [INFO] gs_gym.envs.benchgen.export: Saved episode 1266: 234 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
425
+ 2026-03-11 20:06:04,691 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1267: upside-down gripper detected, task='Pick up the banana and place it in the basket'
426
+ 2026-03-11 20:06:14,388 [INFO] gs_gym.envs.benchgen.export: Saved episode 1267: 160 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
427
+ 2026-03-11 20:06:33,284 [INFO] gs_gym.envs.benchgen.export: Saved episode 1268: 261 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
428
+ 2026-03-11 20:06:44,200 [INFO] gs_gym.envs.benchgen.export: Saved episode 1269: 174 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
429
+ 2026-03-11 20:06:58,548 [INFO] gs_gym.envs.benchgen.export: Saved episode 1270: 256 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
430
+ 2026-03-11 20:07:11,841 [INFO] gs_gym.envs.benchgen.export: Saved episode 1271: 241 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
431
+ 2026-03-11 20:07:23,169 [INFO] gs_gym.envs.benchgen.export: Saved episode 1272: 233 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
432
+ 2026-03-11 20:07:31,346 [INFO] gs_gym.envs.benchgen.export: Saved episode 1273: 158 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
433
+ 2026-03-11 20:07:40,121 [INFO] gs_gym.envs.benchgen.export: Saved episode 1274: 172 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
434
+ 2026-03-11 20:07:52,325 [INFO] gs_gym.envs.benchgen.export: Saved episode 1275: 244 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
435
+ 2026-03-11 20:07:55,988 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1276: upside-down gripper detected, task='Pick up the banana and place it in the basket'
436
+ 2026-03-11 20:08:07,388 [INFO] gs_gym.envs.benchgen.export: Saved episode 1276: 228 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
437
+ 2026-03-11 20:08:17,223 [INFO] gs_gym.envs.benchgen.export: Saved episode 1277: 176 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
438
+ 2026-03-11 20:08:26,939 [INFO] gs_gym.envs.benchgen.export: Saved episode 1278: 154 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
439
+ 2026-03-11 20:08:30,663 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1279: upside-down gripper detected, task='Pick up the banana and place it in the basket'
440
+ 2026-03-11 20:08:41,512 [INFO] gs_gym.envs.benchgen.export: Saved episode 1279: 219 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
441
+ 2026-03-11 20:08:49,883 [INFO] gs_gym.envs.benchgen.export: Saved episode 1280: 170 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
442
+ 2026-03-11 20:08:59,466 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1281: upside-down gripper detected, task='Pick up the banana and place it in the basket'
443
+ 2026-03-11 20:09:08,457 [INFO] gs_gym.envs.benchgen.export: Saved episode 1281: 179 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
444
+ 2026-03-11 20:09:17,344 [INFO] gs_gym.envs.benchgen.export: Saved episode 1282: 170 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
445
+ 2026-03-11 20:09:26,125 [INFO] gs_gym.envs.benchgen.export: Saved episode 1283: 169 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
446
+ 2026-03-11 20:09:33,509 [INFO] gs_gym.envs.benchgen.export: Saved episode 1284: 156 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
447
+ 2026-03-11 20:09:44,058 [INFO] gs_gym.envs.benchgen.export: Saved episode 1285: 222 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
448
+ 2026-03-11 20:09:55,175 [INFO] gs_gym.envs.benchgen.export: Saved episode 1286: 229 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
449
+ 2026-03-11 20:09:58,957 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1287: upside-down gripper detected, task='Pick up the banana and place it in the basket'
450
+ 2026-03-11 20:10:06,321 [INFO] gs_gym.envs.benchgen.export: Saved episode 1287: 154 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
451
+ 2026-03-11 20:10:34,564 [INFO] gs_gym.envs.benchgen.export: Saved episode 1288: 560 frames (20 static removed), task='Pick up the banana and place it in the basket', success=True
452
+ 2026-03-11 20:10:48,392 [INFO] gs_gym.envs.benchgen.export: Saved episode 1289: 173 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
453
+ 2026-03-11 20:11:04,738 [INFO] gs_gym.envs.benchgen.export: Saved episode 1290: 216 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
454
+ 2026-03-11 20:11:15,008 [INFO] gs_gym.envs.benchgen.export: Saved episode 1291: 169 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
455
+ 2026-03-11 20:11:23,842 [INFO] gs_gym.envs.benchgen.export: Saved episode 1292: 182 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
456
+ 2026-03-11 20:11:31,866 [INFO] gs_gym.envs.benchgen.export: Saved episode 1293: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
457
+ 2026-03-11 20:11:39,978 [INFO] gs_gym.envs.benchgen.export: Saved episode 1294: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
458
+ 2026-03-11 20:11:48,004 [INFO] gs_gym.envs.benchgen.export: Saved episode 1295: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
459
+ 2026-03-11 20:11:56,638 [INFO] gs_gym.envs.benchgen.export: Saved episode 1296: 158 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
460
+ 2026-03-11 20:12:07,851 [INFO] gs_gym.envs.benchgen.export: Saved episode 1297: 221 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
461
+ 2026-03-11 20:12:07,852 [INFO] __main__: Export complete: 40 episodes, 8122 frames
462
+ 2026-03-11 20:12:07,852 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
463
+ 2026-03-11 20:12:07,856 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_6.out ADDED
@@ -0,0 +1,526 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 6/8: batches [24 25 26 27]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 24: batch_025 (start_episode=1123, n_episodes=49)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:36:06] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:36:06] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:36:06] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:36:07] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:36:07] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:36:09] [INFO] Scene <17d9bff> created.
14
+ [Genesis] [19:36:09] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <66cc927>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:36:09] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:36:10] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <b231d20>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:36:12] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:13] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:14] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:16] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:16] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:17] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:17] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:18] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:19] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:19] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:21] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:21] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <a8c3657>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:21] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:21] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:21] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <e474693>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:22] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:22] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:22] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:22.076] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:22.077] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:22.077] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:22.077] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:22.077] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:22.077] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:22.077] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:22.077] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:22.077] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:22.077] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:22.077] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:22.077] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:22.077] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:22.077] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:22.077] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:22.077] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:22.079] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:22.079] [CoACD] [info] Manifold Check Time: 0.001792s
58
+ [2026-03-11 19:36:22.080] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:22.080] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:22.080] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:22.107] [CoACD] [info] Preprocess Time: 0.324481s
62
+ [2026-03-11 19:36:22.108] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:22.108] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:22.108] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:22.108] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:22.110] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:26.213] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:26.213] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:26.213] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:26.213] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:28.780] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:28.780] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:28.780] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 19:36:28.780] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 19:36:28.794] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:28.794] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:28.899] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:31.308] [CoACD] [info] Compute Time: 9.200348278973252s
79
+ [2026-03-11 19:36:31.308] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:31] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:32] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:32] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:33] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <934c42f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:33] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:33] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:33.506] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:33.506] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:33.506] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:33.506] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:33.506] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:33.506] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:33.506] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:33.506] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:33.506] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:33.506] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:33.506] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:33.506] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:33.506] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:33.506] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:33.506] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:33.507] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:33.513] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:33.513] [CoACD] [info] Manifold Check Time: 0.006202s
105
+ [2026-03-11 19:36:33.514] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:33.515] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:33.515] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:33.554] [CoACD] [info] Preprocess Time: 0.536825s
109
+ [2026-03-11 19:36:33.554] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:33.554] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:33.554] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:33.554] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:33.555] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:38.109] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:38.109] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:38.109] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:38.109] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:41.581] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:41.581] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:41.581] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:41.581] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:41.581] [CoACD] [info] Processing [75.0%]
123
+ [2026-03-11 19:36:41.581] [CoACD] [info] Processing [25.0%]
124
+ [2026-03-11 19:36:43.178] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:43.178] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:43.179] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:43.179] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:43.191] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:43.191] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:43.340] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:43.707] [CoACD] [info] Compute Time: 10.152098044985905s
132
+ [2026-03-11 19:36:43.707] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:44] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:44] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:44] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:44] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <5971998>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:44] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:44] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:44] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:44.774] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:44.774] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:44.774] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:44.774] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:44.774] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:44.774] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:44.774] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:44.774] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:44.774] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:44.774] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:44.774] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:44.774] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:44.774] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:44.774] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:44.774] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:44.774] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:44.777] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:44.777] [CoACD] [info] Manifold Check Time: 0.003037s
160
+ [2026-03-11 19:36:44.778] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:44.778] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:44.778] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:44.802] [CoACD] [info] Preprocess Time: 0.315161s
164
+ [2026-03-11 19:36:44.802] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:44.802] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:44.802] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:44.802] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:44.802] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:48.035] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:48.035] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:48.035] [CoACD] [info] Processing [50.0%]
172
+ [2026-03-11 19:36:48.039] [CoACD] [info] Processing [0.0%]
173
+ [2026-03-11 19:36:50.334] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:50.334] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:50.334] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 19:36:50.334] [CoACD] [info] Processing [25.0%]
177
+ [2026-03-11 19:36:50.334] [CoACD] [info] Processing [50.0%]
178
+ [2026-03-11 19:36:50.334] [CoACD] [info] Processing [75.0%]
179
+ [2026-03-11 19:36:51.738] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:51.738] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:51.739] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 19:36:51.739] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 19:36:51.746] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:51.746] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:51.808] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:36:52.125] [CoACD] [info] Compute Time: 7.322790942038409s
187
+ [2026-03-11 19:36:52.125] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:36:52] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:36:53] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:36:53] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:36:53] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <af49457>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:36:54] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:36:54] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:36:54] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:36:54.173] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:36:54.173] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:36:54.173] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:36:54.173] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:36:54.173] [CoACD] [info] pca false
202
+ [2026-03-11 19:36:54.173] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:36:54.173] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:36:54.173] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:36:54.173] [CoACD] [info] merge true
206
+ [2026-03-11 19:36:54.173] [CoACD] [info] decimate true
207
+ [2026-03-11 19:36:54.173] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:36:54.173] [CoACD] [info] extrude false
209
+ [2026-03-11 19:36:54.173] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:36:54.173] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:36:54.173] [CoACD] [info] seed 0
212
+ [2026-03-11 19:36:54.175] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:36:54.194] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:36:54.194] [CoACD] [info] Manifold Check Time: 0.019044s
215
+ [2026-03-11 19:36:54.198] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:36:54.198] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:36:54.198] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:36:54.252] [CoACD] [info] Preprocess Time: 0.82881s
219
+ [2026-03-11 19:36:54.252] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:36:54.252] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:36:54.252] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:36:54.252] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:36:54.253] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:37:00.175] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:37:00.176] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:37:00.176] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 19:37:00.176] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 19:37:03.441] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:37:03.441] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:37:03.441] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 19:37:03.441] [CoACD] [info] Processing [50.0%]
232
+ [2026-03-11 19:37:03.441] [CoACD] [info] Processing [25.0%]
233
+ [2026-03-11 19:37:03.441] [CoACD] [info] Processing [75.0%]
234
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:37:05.587] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [0.0%]
237
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [37.5%]
238
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [25.0%]
239
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [75.0%]
240
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [62.5%]
241
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [50.0%]
242
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [12.5%]
243
+ [2026-03-11 19:37:05.587] [CoACD] [info] Processing [87.5%]
244
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:37:07.070] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [28.6%]
247
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [85.7%]
248
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [0.0%]
250
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [57.1%]
251
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [71.4%]
252
+ [2026-03-11 19:37:07.070] [CoACD] [info] Processing [42.9%]
253
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:37:08.313] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [87.5%]
257
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [37.5%]
258
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [62.5%]
259
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [75.0%]
260
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [25.0%]
261
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [50.0%]
262
+ [2026-03-11 19:37:08.313] [CoACD] [info] Processing [12.5%]
263
+ [2026-03-11 19:37:09.258] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:37:09.258] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:37:09.258] [CoACD] [info] Processing [25.0%]
266
+ [2026-03-11 19:37:09.258] [CoACD] [info] Processing [75.0%]
267
+ [2026-03-11 19:37:09.258] [CoACD] [info] Processing [50.0%]
268
+ [2026-03-11 19:37:09.258] [CoACD] [info] Processing [87.5%]
269
+ [2026-03-11 19:37:09.258] [CoACD] [info] Processing [0.0%]
270
+ [2026-03-11 19:37:09.269] [CoACD] [info] Processing [37.5%]
271
+ [2026-03-11 19:37:09.270] [CoACD] [info] Processing [62.5%]
272
+ [2026-03-11 19:37:09.270] [CoACD] [info] Processing [12.5%]
273
+ [2026-03-11 19:37:09.725] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:37:09.725] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:37:09.725] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 19:37:09.725] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 19:37:09.731] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:37:09.731] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:37:13.059] [CoACD] [warning] Max concavity 0.06744498207150841 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:37:13.059] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:37:13.079] [CoACD] [info] Compute Time: 18.826479292009026s
282
+ [2026-03-11 19:37:13.079] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:37:13] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:37:14] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:15] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:16] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:17] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <09fd542>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:17] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:17] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:17.211] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:17.211] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:17.211] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:17.211] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:17.211] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:17.211] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:17.211] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:17.211] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:17.211] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:17.211] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:17.211] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:17.211] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:17.211] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:17.211] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:17.211] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:17.212] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:17.215] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:17.215] [CoACD] [info] Manifold Check Time: 0.003023s
321
+ [2026-03-11 19:37:17.215] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:17.215] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:17.215] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:17.234] [CoACD] [info] Preprocess Time: 0.284315s
325
+ [2026-03-11 19:37:17.234] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:17.234] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:17.234] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:17.234] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:17.234] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:19.534] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:19.534] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:19.534] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:19.534] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:20.823] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:20.824] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:20.824] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 19:37:20.824] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 19:37:21.790] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:21.790] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:21.790] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:21.790] [CoACD] [info] Processing [75.0%]
342
+ [2026-03-11 19:37:21.790] [CoACD] [info] Processing [50.0%]
343
+ [2026-03-11 19:37:21.790] [CoACD] [info] Processing [25.0%]
344
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:22.561] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [0.0%]
347
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [12.5%]
348
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [87.5%]
349
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [37.5%]
350
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [62.5%]
351
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [75.0%]
352
+ [2026-03-11 19:37:22.561] [CoACD] [info] Processing [50.0%]
353
+ [2026-03-11 19:37:22.565] [CoACD] [info] Processing [25.0%]
354
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:23.166] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [25.0%]
358
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [50.0%]
359
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [87.5%]
360
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [62.5%]
361
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [75.0%]
362
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [37.5%]
363
+ [2026-03-11 19:37:23.166] [CoACD] [info] Processing [12.5%]
364
+ [2026-03-11 19:37:23.758] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:23.758] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:23.758] [CoACD] [info] Processing [81.8%]
367
+ [2026-03-11 19:37:23.758] [CoACD] [info] Processing [54.5%]
368
+ [2026-03-11 19:37:23.758] [CoACD] [info] Processing [27.3%]
369
+ [2026-03-11 19:37:23.758] [CoACD] [info] Processing [68.2%]
370
+ [2026-03-11 19:37:23.758] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 19:37:23.758] [CoACD] [info] Processing [0.0%]
372
+ [2026-03-11 19:37:23.776] [CoACD] [info] Processing [40.9%]
373
+ [2026-03-11 19:37:23.776] [CoACD] [info] Processing [13.6%]
374
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:24.108] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [25.0%]
377
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [12.5%]
378
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [0.0%]
379
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [50.0%]
380
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [37.5%]
381
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [87.5%]
382
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [75.0%]
383
+ [2026-03-11 19:37:24.108] [CoACD] [info] Processing [62.5%]
384
+ [2026-03-11 19:37:24.117] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:24.117] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:24.830] [CoACD] [info] - Simplify Convex Hulls
387
+ [2026-03-11 19:37:25.093] [CoACD] [info] Compute Time: 7.859127249976154s
388
+ [2026-03-11 19:37:25.093] [CoACD] [info] # Convex Hulls: 16
389
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 56.
390
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 57.
391
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 58.
392
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 59.
393
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 60.
394
+ [Genesis] [19:37:25] [INFO] Preprocessing geom idx 61.
395
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 62.
396
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 63.
397
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 64.
398
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 65.
399
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 66.
400
+ [Genesis] [19:37:26] [INFO] Preprocessing geom idx 67.
401
+ [Genesis] [19:37:27] [INFO] Preprocessing geom idx 68.
402
+ [Genesis] [19:37:27] [INFO] Preprocessing geom idx 69.
403
+ [Genesis] [19:37:27] [INFO] Preprocessing geom idx 70.
404
+ [Genesis] [19:37:27] [INFO] Preprocessing geom idx 71.
405
+ [Genesis] [19:37:27] [INFO] Building scene <17d9bff>...
406
+ [Genesis] [19:37:30] [WARNING] Reference robot position exceeds joint limits.
407
+ [Genesis] [19:37:35] [INFO] Compiling simulation kernels...
408
+ [Genesis] [19:37:53] [INFO] Building visualizer...
409
+ next_episode=1167 next_index=9083
410
+ [Genesis] [19:46:37] [INFO] 💤 Exiting Genesis and caching compiled kernels...
411
+ Batch batch_025 done!
412
+
413
+ ──────────────────────────────────────────
414
+ Batch 25: batch_026 (start_episode=1172, n_episodes=44)
415
+ ──────────────────────────────────────────
416
+ [Genesis] [19:46:44] [INFO] ╭───────────────────────────────────────────────╮
417
+ [Genesis] [19:46:44] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
418
+ [Genesis] [19:46:44] [INFO] ╰───────────────────────────────────────────────╯
419
+ [Genesis] [19:46:44] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
420
+ [Genesis] [19:46:44] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
421
+ [Genesis] [19:46:46] [INFO] Scene <7b52614> created.
422
+ [Genesis] [19:46:46] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <c1766e6>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
423
+ [Genesis] [19:46:47] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <e80f566>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:46:48] [INFO] Applying offset to base link's pose with user provided value in morph.
425
+ [Genesis] [19:46:50] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <16389dc>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
426
+ [Genesis] [19:46:50] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
427
+ [Genesis] [19:46:50] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <e5f8252>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
428
+ [Genesis] [19:46:50] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
429
+ [Genesis] [19:46:50] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
430
+ [Genesis] [19:46:50] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <2d00895>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
431
+ [Genesis] [19:46:50] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
432
+ [Genesis] [19:46:50] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
433
+ [Genesis] [19:46:50] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <2c6e3f3>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [19:46:50] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
435
+ [Genesis] [19:46:50] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
436
+ [Genesis] [19:46:50] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <aebda38>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
437
+ [Genesis] [19:46:50] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
438
+ [Genesis] [19:46:50] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
439
+ [Genesis] [19:46:50] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <64223a2>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
440
+ [Genesis] [19:46:50] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
441
+ [Genesis] [19:46:50] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
442
+ [Genesis] [19:46:51] [INFO] Building scene <7b52614>...
443
+ [Genesis] [19:46:52] [WARNING] Reference robot position exceeds joint limits.
444
+ [Genesis] [19:46:53] [INFO] Compiling simulation kernels...
445
+ [Genesis] [19:46:54] [INFO] Building visualizer...
446
+ next_episode=1211 next_index=8877
447
+ [Genesis] [19:55:02] [INFO] 💤 Exiting Genesis and caching compiled kernels...
448
+ Batch batch_026 done!
449
+
450
+ ──────────────────────────────────────────
451
+ Batch 26: batch_027 (start_episode=1216, n_episodes=42)
452
+ ──────────────────────────────────────────
453
+ [Genesis] [19:55:11] [INFO] ╭───────────────────────────────────────────────╮
454
+ [Genesis] [19:55:11] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
455
+ [Genesis] [19:55:11] [INFO] ╰───────────────────────────────────────────────╯
456
+ [Genesis] [19:55:11] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
457
+ [Genesis] [19:55:11] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
458
+ [Genesis] [19:55:14] [INFO] Scene <63d2ba4> created.
459
+ [Genesis] [19:55:14] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <08342bf>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
460
+ [Genesis] [19:55:14] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <8071cc9>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:55:15] [INFO] Applying offset to base link's pose with user provided value in morph.
462
+ [Genesis] [19:55:17] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <384865a>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
463
+ [Genesis] [19:55:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
464
+ [Genesis] [19:55:17] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <e162d44>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
465
+ [Genesis] [19:55:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
466
+ [Genesis] [19:55:17] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
467
+ [Genesis] [19:55:17] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <c395c9f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
468
+ [Genesis] [19:55:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
469
+ [Genesis] [19:55:17] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
470
+ [Genesis] [19:55:17] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <80d051b>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
471
+ [Genesis] [19:55:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
472
+ [Genesis] [19:55:17] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
473
+ [Genesis] [19:55:17] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <3a6b23c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
474
+ [Genesis] [19:55:17] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
475
+ [Genesis] [19:55:18] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
476
+ [Genesis] [19:55:18] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <00870e1>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
477
+ [Genesis] [19:55:18] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
478
+ [Genesis] [19:55:18] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
479
+ [Genesis] [19:55:18] [INFO] Building scene <63d2ba4>...
480
+ [Genesis] [19:55:19] [WARNING] Reference robot position exceeds joint limits.
481
+ [Genesis] [19:55:21] [INFO] Compiling simulation kernels...
482
+ [Genesis] [19:55:21] [INFO] Building visualizer...
483
+ next_episode=1254 next_index=9623
484
+ [Genesis] [20:04:10] [INFO] 💤 Exiting Genesis and caching compiled kernels...
485
+ Batch batch_027 done!
486
+
487
+ ──────────────────────────────────────────
488
+ Batch 27: batch_028 (start_episode=1258, n_episodes=45)
489
+ ──────────────────────────────────────────
490
+ [Genesis] [20:04:18] [INFO] ╭───────────────────────────────────────────────╮
491
+ [Genesis] [20:04:18] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
492
+ [Genesis] [20:04:18] [INFO] ╰───────────────────────────────────────────────╯
493
+ [Genesis] [20:04:18] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
494
+ [Genesis] [20:04:18] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
495
+ [Genesis] [20:04:20] [INFO] Scene <94b1c6e> created.
496
+ [Genesis] [20:04:20] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <68ae0e6>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
497
+ [Genesis] [20:04:20] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <8e8c30f>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
498
+ [Genesis] [20:04:22] [INFO] Applying offset to base link's pose with user provided value in morph.
499
+ [Genesis] [20:04:23] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <d4aeac5>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
500
+ [Genesis] [20:04:23] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
501
+ [Genesis] [20:04:23] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <e7709bc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
502
+ [Genesis] [20:04:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
503
+ [Genesis] [20:04:24] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
504
+ [Genesis] [20:04:24] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <5cfcd6d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
505
+ [Genesis] [20:04:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
506
+ [Genesis] [20:04:24] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
507
+ [Genesis] [20:04:24] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <fb12fe7>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
508
+ [Genesis] [20:04:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
509
+ [Genesis] [20:04:24] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
510
+ [Genesis] [20:04:24] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <31fc7d9>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
511
+ [Genesis] [20:04:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
512
+ [Genesis] [20:04:24] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
513
+ [Genesis] [20:04:24] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <73c0293>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
514
+ [Genesis] [20:04:24] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
515
+ [Genesis] [20:04:24] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
516
+ [Genesis] [20:04:24] [INFO] Building scene <94b1c6e>...
517
+ [Genesis] [20:04:26] [WARNING] Reference robot position exceeds joint limits.
518
+ [Genesis] [20:04:27] [INFO] Compiling simulation kernels...
519
+ [Genesis] [20:04:28] [INFO] Building visualizer...
520
+ next_episode=1298 next_index=8122
521
+ [Genesis] [20:12:07] [INFO] 💤 Exiting Genesis and caching compiled kernels...
522
+ Batch batch_028 done!
523
+
524
+ ==========================================
525
+ Worker 6 complete!
526
+ ==========================================
meta/_logs/replay_204436_7.err ADDED
@@ -0,0 +1,363 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2026-03-11 19:35:56,052 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_029
2
+ 2026-03-11 19:36:00,020 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
3
+ 2026-03-11 19:36:00,886 [INFO] gs_gym.envs.benchgen.loader: Collected 46 trajectories (success only) from 64 trials
4
+ 2026-03-11 19:36:00,886 [INFO] __main__: Loaded 46 trajectories for export
5
+ 2026-03-11 19:36:01,059 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
6
+ 2026-03-11 19:36:01,059 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
7
+ 2026-03-11 19:36:01,066 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
8
+ 2026-03-11 19:36:01,066 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
9
+ 2026-03-11 19:36:01,066 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
10
+ 2026-03-11 19:36:01,590 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
11
+ 2026-03-11 19:36:01,590 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
12
+ 2026-03-11 19:36:03,631 [INFO] genesis: Scene ~~~<<4559e5b>>~~~ created.
13
+ 2026-03-11 19:36:03,632 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<0eb810f>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
14
+ 2026-03-11 19:36:03,677 [INFO] genesis: Preprocessing geom idx ~~<0>~~.
15
+ 2026-03-11 19:36:04,495 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<4b6a0f8>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
16
+ 2026-03-11 19:36:05,814 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
17
+ 2026-03-11 19:36:05,855 [INFO] genesis: Preprocessing geom idx ~~<1>~~.
18
+ 2026-03-11 19:36:06,292 [INFO] genesis: Preprocessing geom idx ~~<2>~~.
19
+ 2026-03-11 19:36:06,681 [INFO] genesis: Preprocessing geom idx ~~<4>~~.
20
+ 2026-03-11 19:36:07,363 [INFO] genesis: Preprocessing geom idx ~~<6>~~.
21
+ 2026-03-11 19:36:08,252 [INFO] genesis: Preprocessing geom idx ~~<8>~~.
22
+ 2026-03-11 19:36:08,920 [INFO] genesis: Preprocessing geom idx ~~<10>~~.
23
+ 2026-03-11 19:36:09,383 [INFO] genesis: Preprocessing geom idx ~~<12>~~.
24
+ 2026-03-11 19:36:10,073 [INFO] genesis: Preprocessing geom idx ~~<13>~~.
25
+ 2026-03-11 19:36:10,759 [INFO] genesis: Preprocessing geom idx ~~<14>~~.
26
+ 2026-03-11 19:36:11,158 [INFO] genesis: Preprocessing geom idx ~~<15>~~.
27
+ 2026-03-11 19:36:11,723 [INFO] genesis: Preprocessing geom idx ~~<16>~~.
28
+ 2026-03-11 19:36:12,499 [INFO] genesis: Preprocessing geom idx ~~<17>~~.
29
+ 2026-03-11 19:36:13,107 [INFO] genesis: Preprocessing geom idx ~~<18>~~.
30
+ 2026-03-11 19:36:13,942 [INFO] genesis: Preprocessing geom idx ~~<20>~~.
31
+ 2026-03-11 19:36:15,038 [INFO] genesis: Preprocessing geom idx ~~<22>~~.
32
+ 2026-03-11 19:36:15,541 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<acb856b>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
33
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
34
+ warnings.warn("pygltflib currently does not remove image data "
35
+ 2026-03-11 19:36:15,562 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
36
+ 2026-03-11 19:36:15,576 [INFO] genesis: Preprocessing geom idx ~~<26>~~.
37
+ 2026-03-11 19:36:15,974 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<2690be2>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
38
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
39
+ warnings.warn("pygltflib currently does not remove image data "
40
+ 2026-03-11 19:36:16,047 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
41
+ 2026-03-11 19:36:16,065 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
42
+ 2026-03-11 19:36:16,076 [INFO] genesis: Running convex decomposition.
43
+ 2026-03-11 19:36:24,976 [INFO] genesis: Preprocessing geom idx ~~<27>~~.
44
+ 2026-03-11 19:36:25,647 [INFO] genesis: Preprocessing geom idx ~~<28>~~.
45
+ 2026-03-11 19:36:26,240 [INFO] genesis: Preprocessing geom idx ~~<29>~~.
46
+ 2026-03-11 19:36:26,806 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<dd33f8f>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
47
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
48
+ warnings.warn("pygltflib currently does not remove image data "
49
+ 2026-03-11 19:36:26,899 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
50
+ 2026-03-11 19:36:26,926 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
51
+ 2026-03-11 19:36:26,940 [INFO] genesis: Running convex decomposition.
52
+ 2026-03-11 19:36:35,981 [INFO] genesis: Preprocessing geom idx ~~<30>~~.
53
+ 2026-03-11 19:36:36,093 [INFO] genesis: Preprocessing geom idx ~~<31>~~.
54
+ 2026-03-11 19:36:36,238 [INFO] genesis: Preprocessing geom idx ~~<32>~~.
55
+ 2026-03-11 19:36:36,462 [INFO] genesis: Preprocessing geom idx ~~<33>~~.
56
+ 2026-03-11 19:36:36,545 [INFO] genesis: Preprocessing geom idx ~~<34>~~.
57
+ 2026-03-11 19:36:36,705 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<ffc4711>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
58
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
59
+ warnings.warn("pygltflib currently does not remove image data "
60
+ 2026-03-11 19:36:36,794 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
61
+ 2026-03-11 19:36:36,809 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
62
+ 2026-03-11 19:36:36,817 [INFO] genesis: Running convex decomposition.
63
+ 2026-03-11 19:36:43,539 [INFO] genesis: Preprocessing geom idx ~~<35>~~.
64
+ 2026-03-11 19:36:43,867 [INFO] genesis: Preprocessing geom idx ~~<36>~~.
65
+ 2026-03-11 19:36:44,319 [INFO] genesis: Preprocessing geom idx ~~<37>~~.
66
+ 2026-03-11 19:36:44,819 [INFO] genesis: Preprocessing geom idx ~~<38>~~.
67
+ 2026-03-11 19:36:44,918 [INFO] genesis: Preprocessing geom idx ~~<39>~~.
68
+ 2026-03-11 19:36:45,262 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<92565dc>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
69
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
70
+ warnings.warn("pygltflib currently does not remove image data "
71
+ 2026-03-11 19:36:45,370 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
72
+ 2026-03-11 19:36:45,442 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
73
+ 2026-03-11 19:36:45,472 [INFO] genesis: Running convex decomposition.
74
+ 2026-03-11 19:37:05,481 [INFO] genesis: Preprocessing geom idx ~~<40>~~.
75
+ 2026-03-11 19:37:05,779 [INFO] genesis: Preprocessing geom idx ~~<41>~~.
76
+ 2026-03-11 19:37:05,835 [INFO] genesis: Preprocessing geom idx ~~<42>~~.
77
+ 2026-03-11 19:37:05,915 [INFO] genesis: Preprocessing geom idx ~~<43>~~.
78
+ 2026-03-11 19:37:06,207 [INFO] genesis: Preprocessing geom idx ~~<44>~~.
79
+ 2026-03-11 19:37:06,515 [INFO] genesis: Preprocessing geom idx ~~<45>~~.
80
+ 2026-03-11 19:37:06,608 [INFO] genesis: Preprocessing geom idx ~~<46>~~.
81
+ 2026-03-11 19:37:06,935 [INFO] genesis: Preprocessing geom idx ~~<47>~~.
82
+ 2026-03-11 19:37:07,299 [INFO] genesis: Preprocessing geom idx ~~<48>~~.
83
+ 2026-03-11 19:37:07,637 [INFO] genesis: Preprocessing geom idx ~~<49>~~.
84
+ 2026-03-11 19:37:07,910 [INFO] genesis: Preprocessing geom idx ~~<50>~~.
85
+ 2026-03-11 19:37:08,367 [INFO] genesis: Preprocessing geom idx ~~<51>~~.
86
+ 2026-03-11 19:37:08,622 [INFO] genesis: Preprocessing geom idx ~~<52>~~.
87
+ 2026-03-11 19:37:08,936 [INFO] genesis: Preprocessing geom idx ~~<53>~~.
88
+ 2026-03-11 19:37:09,186 [INFO] genesis: Preprocessing geom idx ~~<54>~~.
89
+ 2026-03-11 19:37:09,430 [INFO] genesis: Preprocessing geom idx ~~<55>~~.
90
+ 2026-03-11 19:37:09,665 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<87404a9>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
91
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
92
+ warnings.warn("pygltflib currently does not remove image data "
93
+ 2026-03-11 19:37:09,747 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
94
+ 2026-03-11 19:37:09,762 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
95
+ 2026-03-11 19:37:09,768 [INFO] genesis: Running convex decomposition.
96
+ 2026-03-11 19:37:17,545 [INFO] genesis: Preprocessing geom idx ~~<56>~~.
97
+ 2026-03-11 19:37:17,636 [INFO] genesis: Preprocessing geom idx ~~<57>~~.
98
+ 2026-03-11 19:37:17,973 [INFO] genesis: Preprocessing geom idx ~~<58>~~.
99
+ 2026-03-11 19:37:18,090 [INFO] genesis: Preprocessing geom idx ~~<59>~~.
100
+ 2026-03-11 19:37:18,162 [INFO] genesis: Preprocessing geom idx ~~<60>~~.
101
+ 2026-03-11 19:37:18,272 [INFO] genesis: Preprocessing geom idx ~~<61>~~.
102
+ 2026-03-11 19:37:18,639 [INFO] genesis: Preprocessing geom idx ~~<62>~~.
103
+ 2026-03-11 19:37:18,727 [INFO] genesis: Preprocessing geom idx ~~<63>~~.
104
+ 2026-03-11 19:37:18,781 [INFO] genesis: Preprocessing geom idx ~~<64>~~.
105
+ 2026-03-11 19:37:18,842 [INFO] genesis: Preprocessing geom idx ~~<65>~~.
106
+ 2026-03-11 19:37:18,913 [INFO] genesis: Preprocessing geom idx ~~<66>~~.
107
+ 2026-03-11 19:37:19,137 [INFO] genesis: Preprocessing geom idx ~~<67>~~.
108
+ 2026-03-11 19:37:19,251 [INFO] genesis: Preprocessing geom idx ~~<68>~~.
109
+ 2026-03-11 19:37:19,657 [INFO] genesis: Preprocessing geom idx ~~<69>~~.
110
+ 2026-03-11 19:37:19,709 [INFO] genesis: Preprocessing geom idx ~~<70>~~.
111
+ 2026-03-11 19:37:19,784 [INFO] genesis: Preprocessing geom idx ~~<71>~~.
112
+ 2026-03-11 19:37:20,047 [INFO] genesis: Building scene ~~~<<4559e5b>>~~~...
113
+ 2026-03-11 19:37:22,435 [WARNING] genesis: Reference robot position exceeds joint limits.
114
+ 2026-03-11 19:37:27,320 [INFO] genesis: Compiling simulation kernels...
115
+ 2026-03-11 19:37:45,527 [INFO] genesis: Building visualizer...
116
+ 2026-03-11 19:37:45,754 [INFO] __main__: Environment created successfully
117
+ 2026-03-11 19:37:46,064 [INFO] __main__: Loaded pre-built task map with 1 tasks
118
+ 2026-03-11 19:37:46,064 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
119
+ 2026-03-11 19:37:55,641 [INFO] gs_gym.envs.benchgen.export: Saved episode 1303: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
120
+ 2026-03-11 19:38:04,438 [INFO] gs_gym.envs.benchgen.export: Saved episode 1304: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
121
+ 2026-03-11 19:38:16,985 [INFO] gs_gym.envs.benchgen.export: Saved episode 1305: 254 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
122
+ 2026-03-11 19:38:30,208 [INFO] gs_gym.envs.benchgen.export: Saved episode 1306: 246 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
123
+ 2026-03-11 19:38:42,122 [INFO] gs_gym.envs.benchgen.export: Saved episode 1307: 167 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
124
+ 2026-03-11 19:38:53,571 [INFO] gs_gym.envs.benchgen.export: Saved episode 1308: 178 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
125
+ 2026-03-11 19:39:06,147 [INFO] gs_gym.envs.benchgen.export: Saved episode 1309: 244 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
126
+ 2026-03-11 19:39:14,973 [INFO] gs_gym.envs.benchgen.export: Saved episode 1310: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
127
+ 2026-03-11 19:39:24,251 [INFO] gs_gym.envs.benchgen.export: Saved episode 1311: 167 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
128
+ 2026-03-11 19:39:35,014 [INFO] gs_gym.envs.benchgen.export: Saved episode 1312: 184 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
129
+ 2026-03-11 19:39:47,752 [INFO] gs_gym.envs.benchgen.export: Saved episode 1313: 227 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
130
+ 2026-03-11 19:40:00,810 [INFO] gs_gym.envs.benchgen.export: Saved episode 1314: 245 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
131
+ 2026-03-11 19:40:11,415 [INFO] gs_gym.envs.benchgen.export: Saved episode 1315: 200 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
132
+ 2026-03-11 19:40:25,340 [INFO] gs_gym.envs.benchgen.export: Saved episode 1316: 258 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
133
+ 2026-03-11 19:40:34,340 [INFO] gs_gym.envs.benchgen.export: Saved episode 1317: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
134
+ 2026-03-11 19:40:42,837 [INFO] gs_gym.envs.benchgen.export: Saved episode 1318: 162 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
135
+ 2026-03-11 19:40:50,506 [INFO] gs_gym.envs.benchgen.export: Saved episode 1319: 160 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
136
+ 2026-03-11 19:40:55,914 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1320: upside-down gripper detected, task='Pick up the banana and place it in the basket'
137
+ 2026-03-11 19:41:10,647 [INFO] gs_gym.envs.benchgen.export: Saved episode 1320: 249 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
138
+ 2026-03-11 19:41:13,881 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1321: upside-down gripper detected, task='Pick up the banana and place it in the basket'
139
+ 2026-03-11 19:41:23,950 [INFO] gs_gym.envs.benchgen.export: Saved episode 1321: 205 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
140
+ 2026-03-11 19:41:32,140 [INFO] gs_gym.envs.benchgen.export: Saved episode 1322: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
141
+ 2026-03-11 19:41:43,383 [INFO] gs_gym.envs.benchgen.export: Saved episode 1323: 235 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
142
+ 2026-03-11 19:41:55,888 [INFO] gs_gym.envs.benchgen.export: Saved episode 1324: 239 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
143
+ 2026-03-11 19:42:04,289 [INFO] gs_gym.envs.benchgen.export: Saved episode 1325: 162 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
144
+ 2026-03-11 19:42:08,197 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1326: upside-down gripper detected, task='Pick up the banana and place it in the basket'
145
+ 2026-03-11 19:42:10,839 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1326: upside-down gripper detected, task='Pick up the banana and place it in the basket'
146
+ 2026-03-11 19:42:40,432 [INFO] gs_gym.envs.benchgen.export: Saved episode 1326: 565 frames (21 static removed), task='Pick up the banana and place it in the basket', success=True
147
+ 2026-03-11 19:42:51,913 [INFO] gs_gym.envs.benchgen.export: Saved episode 1327: 160 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
148
+ 2026-03-11 19:42:56,021 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1328: upside-down gripper detected, task='Pick up the banana and place it in the basket'
149
+ 2026-03-11 19:43:08,790 [INFO] gs_gym.envs.benchgen.export: Saved episode 1328: 242 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
150
+ 2026-03-11 19:43:19,957 [INFO] gs_gym.envs.benchgen.export: Saved episode 1329: 215 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
151
+ 2026-03-11 19:43:27,660 [INFO] gs_gym.envs.benchgen.export: Saved episode 1330: 158 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
152
+ 2026-03-11 19:43:36,884 [INFO] gs_gym.envs.benchgen.export: Saved episode 1331: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
153
+ 2026-03-11 19:43:46,955 [INFO] gs_gym.envs.benchgen.export: Saved episode 1332: 172 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
154
+ 2026-03-11 19:43:56,436 [INFO] gs_gym.envs.benchgen.export: Saved episode 1333: 179 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
155
+ 2026-03-11 19:44:04,599 [INFO] gs_gym.envs.benchgen.export: Saved episode 1334: 166 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
156
+ 2026-03-11 19:44:12,289 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1335: upside-down gripper detected, task='Pick up the banana and place it in the basket'
157
+ 2026-03-11 19:44:19,912 [INFO] gs_gym.envs.benchgen.export: Saved episode 1335: 157 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
158
+ 2026-03-11 19:44:31,478 [INFO] gs_gym.envs.benchgen.export: Saved episode 1336: 219 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
159
+ 2026-03-11 19:44:46,279 [INFO] gs_gym.envs.benchgen.export: Saved episode 1337: 252 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
160
+ 2026-03-11 19:44:58,673 [INFO] gs_gym.envs.benchgen.export: Saved episode 1338: 223 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
161
+ 2026-03-11 19:45:11,453 [INFO] gs_gym.envs.benchgen.export: Saved episode 1339: 219 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
162
+ 2026-03-11 19:45:19,581 [INFO] gs_gym.envs.benchgen.export: Saved episode 1340: 161 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
163
+ 2026-03-11 19:45:27,478 [INFO] gs_gym.envs.benchgen.export: Saved episode 1341: 159 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
164
+ 2026-03-11 19:45:34,996 [INFO] gs_gym.envs.benchgen.export: Saved episode 1342: 157 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
165
+ 2026-03-11 19:45:34,997 [INFO] __main__: Export complete: 40 episodes, 8167 frames
166
+ 2026-03-11 19:45:34,997 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
167
+ 2026-03-11 19:45:35,000 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
168
+ 2026-03-11 19:45:36,587 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_030
169
+ 2026-03-11 19:45:41,673 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
170
+ 2026-03-11 19:45:42,844 [INFO] gs_gym.envs.benchgen.loader: Collected 43 trajectories (success only) from 64 trials
171
+ 2026-03-11 19:45:42,845 [INFO] __main__: Loaded 43 trajectories for export
172
+ 2026-03-11 19:45:43,021 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
173
+ 2026-03-11 19:45:43,021 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
174
+ 2026-03-11 19:45:43,029 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
175
+ 2026-03-11 19:45:43,029 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
176
+ 2026-03-11 19:45:43,029 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
177
+ 2026-03-11 19:45:43,301 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
178
+ 2026-03-11 19:45:43,301 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
179
+ 2026-03-11 19:45:45,552 [INFO] genesis: Scene ~~~<<37e0abb>>~~~ created.
180
+ 2026-03-11 19:45:45,552 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<d8ee8b8>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
181
+ 2026-03-11 19:45:45,626 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<11cb4cb>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
182
+ 2026-03-11 19:45:46,975 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
183
+ 2026-03-11 19:45:48,722 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<1a1e1d3>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
184
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
185
+ warnings.warn("pygltflib currently does not remove image data "
186
+ 2026-03-11 19:45:48,749 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
187
+ 2026-03-11 19:45:48,763 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<5b6866c>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
188
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
189
+ warnings.warn("pygltflib currently does not remove image data "
190
+ 2026-03-11 19:45:48,834 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
191
+ 2026-03-11 19:45:48,851 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
192
+ 2026-03-11 19:45:48,886 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<c612be5>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
193
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
194
+ warnings.warn("pygltflib currently does not remove image data "
195
+ 2026-03-11 19:45:48,975 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
196
+ 2026-03-11 19:45:49,002 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
197
+ 2026-03-11 19:45:49,053 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<f2ecf17>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
198
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
199
+ warnings.warn("pygltflib currently does not remove image data "
200
+ 2026-03-11 19:45:49,141 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
201
+ 2026-03-11 19:45:49,155 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
202
+ 2026-03-11 19:45:49,199 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<cfbfa8d>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
203
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
204
+ warnings.warn("pygltflib currently does not remove image data "
205
+ 2026-03-11 19:45:49,304 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
206
+ 2026-03-11 19:45:49,371 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
207
+ 2026-03-11 19:45:49,462 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<34fbf50>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
208
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
209
+ warnings.warn("pygltflib currently does not remove image data "
210
+ 2026-03-11 19:45:49,542 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
211
+ 2026-03-11 19:45:49,556 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
212
+ 2026-03-11 19:45:49,620 [INFO] genesis: Building scene ~~~<<37e0abb>>~~~...
213
+ 2026-03-11 19:45:51,235 [WARNING] genesis: Reference robot position exceeds joint limits.
214
+ 2026-03-11 19:45:52,439 [INFO] genesis: Compiling simulation kernels...
215
+ 2026-03-11 19:45:53,138 [INFO] genesis: Building visualizer...
216
+ 2026-03-11 19:45:53,331 [INFO] __main__: Environment created successfully
217
+ 2026-03-11 19:45:53,934 [INFO] __main__: Loaded pre-built task map with 1 tasks
218
+ 2026-03-11 19:45:53,935 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
219
+ 2026-03-11 19:46:08,096 [INFO] gs_gym.envs.benchgen.export: Saved episode 1349: 240 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
220
+ 2026-03-11 19:46:18,644 [INFO] gs_gym.envs.benchgen.export: Saved episode 1350: 210 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
221
+ 2026-03-11 19:46:21,829 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1351: upside-down gripper detected, task='Pick up the banana and place it in the basket'
222
+ 2026-03-11 19:46:32,465 [INFO] gs_gym.envs.benchgen.export: Saved episode 1351: 211 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
223
+ 2026-03-11 19:46:49,197 [INFO] gs_gym.envs.benchgen.export: Saved episode 1352: 286 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
224
+ 2026-03-11 19:47:03,578 [INFO] gs_gym.envs.benchgen.export: Saved episode 1353: 238 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
225
+ 2026-03-11 19:47:16,804 [INFO] gs_gym.envs.benchgen.export: Saved episode 1354: 258 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
226
+ 2026-03-11 19:47:24,695 [INFO] gs_gym.envs.benchgen.export: Saved episode 1355: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
227
+ 2026-03-11 19:47:38,965 [INFO] gs_gym.envs.benchgen.export: Saved episode 1356: 288 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
228
+ 2026-03-11 19:47:51,767 [INFO] gs_gym.envs.benchgen.export: Saved episode 1357: 232 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
229
+ 2026-03-11 19:48:00,159 [INFO] gs_gym.envs.benchgen.export: Saved episode 1358: 162 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
230
+ 2026-03-11 19:48:12,838 [INFO] gs_gym.envs.benchgen.export: Saved episode 1359: 252 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
231
+ 2026-03-11 19:48:24,878 [INFO] gs_gym.envs.benchgen.export: Saved episode 1360: 239 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
232
+ 2026-03-11 19:48:32,519 [INFO] gs_gym.envs.benchgen.export: Saved episode 1361: 161 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
233
+ 2026-03-11 19:48:40,263 [INFO] gs_gym.envs.benchgen.export: Saved episode 1362: 157 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
234
+ 2026-03-11 19:48:47,681 [INFO] gs_gym.envs.benchgen.export: Saved episode 1363: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
235
+ 2026-03-11 19:48:58,065 [INFO] gs_gym.envs.benchgen.export: Saved episode 1364: 205 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
236
+ 2026-03-11 19:49:10,485 [INFO] gs_gym.envs.benchgen.export: Saved episode 1365: 242 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
237
+ 2026-03-11 19:49:18,702 [INFO] gs_gym.envs.benchgen.export: Saved episode 1366: 155 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
238
+ 2026-03-11 19:49:26,870 [INFO] gs_gym.envs.benchgen.export: Saved episode 1367: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
239
+ 2026-03-11 19:49:38,998 [INFO] gs_gym.envs.benchgen.export: Saved episode 1368: 207 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
240
+ 2026-03-11 19:49:48,408 [INFO] gs_gym.envs.benchgen.export: Saved episode 1369: 161 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
241
+ 2026-03-11 19:49:57,667 [INFO] gs_gym.envs.benchgen.export: Saved episode 1370: 171 frames, task='Pick up the banana and place it in the basket', success=True
242
+ 2026-03-11 19:50:10,811 [INFO] gs_gym.envs.benchgen.export: Saved episode 1371: 212 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
243
+ 2026-03-11 19:50:22,191 [INFO] gs_gym.envs.benchgen.export: Saved episode 1372: 215 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
244
+ 2026-03-11 19:50:30,021 [INFO] gs_gym.envs.benchgen.export: Saved episode 1373: 159 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
245
+ 2026-03-11 19:50:37,950 [INFO] gs_gym.envs.benchgen.export: Saved episode 1374: 161 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
246
+ 2026-03-11 19:50:48,513 [INFO] gs_gym.envs.benchgen.export: Saved episode 1375: 210 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
247
+ 2026-03-11 19:50:56,556 [INFO] gs_gym.envs.benchgen.export: Saved episode 1376: 159 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
248
+ 2026-03-11 19:51:07,072 [INFO] gs_gym.envs.benchgen.export: Saved episode 1377: 208 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
249
+ 2026-03-11 19:51:15,352 [INFO] gs_gym.envs.benchgen.export: Saved episode 1378: 158 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
250
+ 2026-03-11 19:51:23,474 [INFO] gs_gym.envs.benchgen.export: Saved episode 1379: 163 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
251
+ 2026-03-11 19:51:25,954 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1380: upside-down gripper detected, task='Pick up the banana and place it in the basket'
252
+ 2026-03-11 19:51:34,113 [INFO] gs_gym.envs.benchgen.export: Saved episode 1380: 164 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
253
+ 2026-03-11 19:51:46,486 [INFO] gs_gym.envs.benchgen.export: Saved episode 1381: 231 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
254
+ 2026-03-11 19:51:58,845 [INFO] gs_gym.envs.benchgen.export: Saved episode 1382: 240 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
255
+ 2026-03-11 19:52:07,425 [INFO] gs_gym.envs.benchgen.export: Saved episode 1383: 177 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
256
+ 2026-03-11 19:52:18,592 [INFO] gs_gym.envs.benchgen.export: Saved episode 1384: 229 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
257
+ 2026-03-11 19:52:32,547 [INFO] gs_gym.envs.benchgen.export: Saved episode 1385: 248 frames (13 static removed), task='Pick up the banana and place it in the basket', success=True
258
+ 2026-03-11 19:52:45,206 [INFO] gs_gym.envs.benchgen.export: Saved episode 1386: 219 frames (4 static removed), task='Pick up the banana and place it in the basket', success=True
259
+ 2026-03-11 19:52:59,865 [INFO] gs_gym.envs.benchgen.export: Saved episode 1387: 293 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
260
+ 2026-03-11 19:53:08,259 [INFO] gs_gym.envs.benchgen.export: Saved episode 1388: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
261
+ 2026-03-11 19:53:16,552 [INFO] gs_gym.envs.benchgen.export: Saved episode 1389: 169 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
262
+ 2026-03-11 19:53:16,553 [INFO] __main__: Export complete: 41 episodes, 8334 frames
263
+ 2026-03-11 19:53:16,553 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
264
+ 2026-03-11 19:53:16,557 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
265
+ 2026-03-11 19:53:17,854 [INFO] __main__: Loading batch from /mnt/data/yian/benchgen/outputs/batch_031
266
+ 2026-03-11 19:53:24,159 [INFO] OpenGL.acceleratesupport: No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
267
+ 2026-03-11 19:53:25,594 [INFO] gs_gym.envs.benchgen.loader: Collected 45 trajectories (success only) from 64 trials
268
+ 2026-03-11 19:53:25,595 [INFO] __main__: Loaded 45 trajectories for export
269
+ 2026-03-11 19:53:25,825 [INFO] __main__: Resolved 6 object meshes: ['banana', 'bread', 'chili', 'basket', 'carrot', 'root']
270
+ 2026-03-11 19:53:25,825 [INFO] __main__: Creating BenchgenReplayEnv with n_envs=1
271
+ 2026-03-11 19:53:25,835 [INFO] genesis: ~<╭───────────────────────────────────────────────╮>~
272
+ 2026-03-11 19:53:25,835 [INFO] genesis: ~<│┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈>~ ~~~~<Genesis>~~~~ ~<┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│>~
273
+ 2026-03-11 19:53:25,835 [INFO] genesis: ~<╰───────────────────────────────────────────────╯>~
274
+ 2026-03-11 19:53:26,148 [INFO] genesis: Running on ~~<[NVIDIA RTX PRO 6000 Blackwell Server Edition]>~~ with backend ~~<gs.cuda>~~. Device memory: ~~<94.97>~~ GB.
275
+ 2026-03-11 19:53:26,148 [INFO] genesis: 🚀 Genesis initialized. 🔖 version: ~~<0.3.10>~~, 🎨 theme: ~~<dark>~~, 🌱 seed: ~~<None>~~, 🐛 debug: ~~<False>~~, 📏 precision: ~~<32>~~, 🔥 performance: ~~<False>~~, 💬 verbose: ~~<INFO>~~
276
+ 2026-03-11 19:53:28,926 [INFO] genesis: Scene ~~~<<6600d2c>>~~~ created.
277
+ 2026-03-11 19:53:28,926 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<0>~, uid: ~~~<<9c01414>>~~~, morph: ~<<gs.morphs.Plane>>~, material: ~<<gs.materials.Rigid>>~.
278
+ 2026-03-11 19:53:29,016 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<1>~, uid: ~~~<<b30d298>>~~~, morph: ~<<gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>>~, material: ~<<gs.materials.Rigid>>~.
279
+ 2026-03-11 19:53:30,599 [INFO] genesis: Applying offset to base link's pose with user provided value in morph.
280
+ 2026-03-11 19:53:32,456 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<2>~, uid: ~~~<<00a8eb4>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>>~, material: ~<<gs.materials.Rigid>>~.
281
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
282
+ warnings.warn("pygltflib currently does not remove image data "
283
+ 2026-03-11 19:53:32,481 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
284
+ 2026-03-11 19:53:32,497 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<3>~, uid: ~~~<<578303a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
285
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
286
+ warnings.warn("pygltflib currently does not remove image data "
287
+ 2026-03-11 19:53:32,573 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
288
+ 2026-03-11 19:53:32,591 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
289
+ 2026-03-11 19:53:32,631 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<4>~, uid: ~~~<<c2b211a>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>>~, material: ~<<gs.materials.Rigid>>~.
290
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
291
+ warnings.warn("pygltflib currently does not remove image data "
292
+ 2026-03-11 19:53:32,732 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
293
+ 2026-03-11 19:53:32,763 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
294
+ 2026-03-11 19:53:32,833 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<5>~, uid: ~~~<<e11a565>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>>~, material: ~<<gs.materials.Rigid>>~.
295
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
296
+ warnings.warn("pygltflib currently does not remove image data "
297
+ 2026-03-11 19:53:32,928 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
298
+ 2026-03-11 19:53:32,947 [INFO] genesis: Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
299
+ 2026-03-11 19:53:33,001 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<6>~, uid: ~~~<<8997a74>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>>~, material: ~<<gs.materials.Rigid>>~.
300
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
301
+ warnings.warn("pygltflib currently does not remove image data "
302
+ 2026-03-11 19:53:33,117 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
303
+ 2026-03-11 19:53:33,188 [INFO] genesis: Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
304
+ 2026-03-11 19:53:33,289 [INFO] genesis: Adding ~<<gs.RigidEntity>>~. idx: ~<7>~, uid: ~~~<<ca1eb62>>~~~, morph: ~<<gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>>~, material: ~<<gs.materials.Rigid>>~.
305
+ /mnt/home/yian/gs-gym/.venv/lib/python3.10/site-packages/pygltflib/__init__.py:830: UserWarning: pygltflib currently does not remove image data from the buffer when converting to data uri.Please open an issue at https://gitlab.com/dodgyville/pygltflib/issues
306
+ warnings.warn("pygltflib currently does not remove image data "
307
+ 2026-03-11 19:53:33,374 [WARNING] genesis: GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
308
+ 2026-03-11 19:53:33,388 [INFO] genesis: Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
309
+ 2026-03-11 19:53:33,456 [INFO] genesis: Building scene ~~~<<6600d2c>>~~~...
310
+ 2026-03-11 19:53:35,105 [WARNING] genesis: Reference robot position exceeds joint limits.
311
+ 2026-03-11 19:53:36,437 [INFO] genesis: Compiling simulation kernels...
312
+ 2026-03-11 19:53:37,179 [INFO] genesis: Building visualizer...
313
+ 2026-03-11 19:53:37,386 [INFO] __main__: Environment created successfully
314
+ 2026-03-11 19:53:38,004 [INFO] __main__: Loaded pre-built task map with 1 tasks
315
+ 2026-03-11 19:53:38,004 [INFO] __main__: Starting replay and export to /mnt/data/yian/benchgen_lerobot_dataset_filtered
316
+ 2026-03-11 19:53:46,883 [INFO] gs_gym.envs.benchgen.export: Saved episode 1392: 160 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
317
+ 2026-03-11 19:53:55,941 [INFO] gs_gym.envs.benchgen.export: Saved episode 1393: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
318
+ 2026-03-11 19:54:10,466 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1394: upside-down gripper detected, task='Pick up the banana and place it in the basket'
319
+ 2026-03-11 19:54:21,893 [INFO] gs_gym.envs.benchgen.export: Saved episode 1394: 218 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
320
+ 2026-03-11 19:54:34,168 [INFO] gs_gym.envs.benchgen.export: Saved episode 1395: 260 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
321
+ 2026-03-11 19:54:37,294 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1396: upside-down gripper detected, task='Pick up the banana and place it in the basket'
322
+ 2026-03-11 19:54:48,164 [INFO] gs_gym.envs.benchgen.export: Saved episode 1396: 216 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
323
+ 2026-03-11 19:55:01,269 [INFO] gs_gym.envs.benchgen.export: Saved episode 1397: 240 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
324
+ 2026-03-11 19:55:10,491 [INFO] gs_gym.envs.benchgen.export: Saved episode 1398: 179 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
325
+ 2026-03-11 19:55:18,794 [INFO] gs_gym.envs.benchgen.export: Saved episode 1399: 157 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
326
+ 2026-03-11 19:55:30,724 [INFO] gs_gym.envs.benchgen.export: Saved episode 1400: 234 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
327
+ 2026-03-11 19:55:41,010 [INFO] gs_gym.envs.benchgen.export: Saved episode 1401: 212 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
328
+ 2026-03-11 19:55:44,180 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1402: upside-down gripper detected, task='Pick up the banana and place it in the basket'
329
+ 2026-03-11 19:55:53,076 [INFO] gs_gym.envs.benchgen.export: Saved episode 1402: 177 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
330
+ 2026-03-11 19:56:01,362 [INFO] gs_gym.envs.benchgen.export: Saved episode 1403: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
331
+ 2026-03-11 19:56:12,062 [INFO] gs_gym.envs.benchgen.export: Saved episode 1404: 214 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
332
+ 2026-03-11 19:56:24,341 [INFO] gs_gym.envs.benchgen.export: Saved episode 1405: 235 frames (8 static removed), task='Pick up the banana and place it in the basket', success=True
333
+ 2026-03-11 19:56:32,345 [INFO] gs_gym.envs.benchgen.export: Saved episode 1406: 160 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
334
+ 2026-03-11 19:56:35,256 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1407: upside-down gripper detected, task='Pick up the banana and place it in the basket'
335
+ 2026-03-11 19:56:44,747 [INFO] gs_gym.envs.benchgen.export: Saved episode 1407: 163 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
336
+ 2026-03-11 19:56:57,365 [INFO] gs_gym.envs.benchgen.export: Saved episode 1408: 241 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
337
+ 2026-03-11 19:57:07,804 [INFO] gs_gym.envs.benchgen.export: Saved episode 1409: 203 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
338
+ 2026-03-11 19:57:15,214 [INFO] gs_gym.envs.benchgen.export: Saved episode 1410: 152 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
339
+ 2026-03-11 19:57:23,409 [INFO] gs_gym.envs.benchgen.export: Saved episode 1411: 164 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
340
+ 2026-03-11 19:57:37,995 [INFO] gs_gym.envs.benchgen.export: Saved episode 1412: 260 frames (10 static removed), task='Pick up the banana and place it in the basket', success=True
341
+ 2026-03-11 19:57:51,859 [INFO] gs_gym.envs.benchgen.export: Saved episode 1413: 209 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
342
+ 2026-03-11 19:58:02,436 [INFO] gs_gym.envs.benchgen.export: Saved episode 1414: 209 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
343
+ 2026-03-11 19:58:13,584 [INFO] gs_gym.envs.benchgen.export: Saved episode 1415: 220 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
344
+ 2026-03-11 19:58:22,178 [INFO] gs_gym.envs.benchgen.export: Saved episode 1416: 165 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
345
+ 2026-03-11 19:58:30,763 [INFO] gs_gym.envs.benchgen.export: Saved episode 1417: 157 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
346
+ 2026-03-11 19:58:42,708 [INFO] gs_gym.envs.benchgen.export: Saved episode 1418: 233 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
347
+ 2026-03-11 19:58:51,308 [INFO] gs_gym.envs.benchgen.export: Saved episode 1419: 172 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
348
+ 2026-03-11 19:59:03,440 [INFO] gs_gym.envs.benchgen.export: Saved episode 1420: 257 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
349
+ 2026-03-11 19:59:11,216 [INFO] gs_gym.envs.benchgen.export: Saved episode 1421: 162 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
350
+ 2026-03-11 19:59:19,625 [INFO] gs_gym.envs.benchgen.export: Saved episode 1422: 168 frames (3 static removed), task='Pick up the banana and place it in the basket', success=True
351
+ 2026-03-11 19:59:27,169 [INFO] gs_gym.envs.benchgen.export: Saved episode 1423: 164 frames (1 static removed), task='Pick up the banana and place it in the basket', success=True
352
+ 2026-03-11 19:59:39,322 [INFO] gs_gym.envs.benchgen.export: Saved episode 1424: 236 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
353
+ 2026-03-11 19:59:52,774 [INFO] gs_gym.envs.benchgen.export: Saved episode 1425: 263 frames (7 static removed), task='Pick up the banana and place it in the basket', success=True
354
+ 2026-03-11 20:00:04,720 [INFO] gs_gym.envs.benchgen.export: Saved episode 1426: 221 frames (6 static removed), task='Pick up the banana and place it in the basket', success=True
355
+ 2026-03-11 20:00:13,301 [INFO] gs_gym.envs.benchgen.export: Saved episode 1427: 175 frames, task='Pick up the banana and place it in the basket', success=True
356
+ 2026-03-11 20:00:20,922 [INFO] gs_gym.envs.benchgen.export: Saved episode 1428: 158 frames (2 static removed), task='Pick up the banana and place it in the basket', success=True
357
+ 2026-03-11 20:00:24,124 [INFO] gs_gym.envs.benchgen.export: Skipped episode 1429: upside-down gripper detected, task='Pick up the banana and place it in the basket'
358
+ 2026-03-11 20:00:33,009 [INFO] gs_gym.envs.benchgen.export: Saved episode 1429: 175 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
359
+ 2026-03-11 20:00:49,595 [INFO] gs_gym.envs.benchgen.export: Saved episode 1430: 264 frames (9 static removed), task='Pick up the banana and place it in the basket', success=True
360
+ 2026-03-11 20:00:57,729 [INFO] gs_gym.envs.benchgen.export: Saved episode 1431: 164 frames (5 static removed), task='Pick up the banana and place it in the basket', success=True
361
+ 2026-03-11 20:00:57,730 [INFO] __main__: Export complete: 40 episodes, 7948 frames
362
+ 2026-03-11 20:00:57,730 [INFO] __main__: Output: /mnt/data/yian/benchgen_lerobot_dataset_filtered
363
+ 2026-03-11 20:00:57,734 [INFO] genesis: 💤 Exiting Genesis and caching compiled kernels...
meta/_logs/replay_204436_7.out ADDED
@@ -0,0 +1,489 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ==========================================
2
+ Worker 7/8: batches [28 29 30]
3
+ ==========================================
4
+
5
+ ──────────────────────────────────────────
6
+ Batch 28: batch_029 (start_episode=1303, n_episodes=46)
7
+ ──────────────────────────────────────────
8
+ [Genesis] [19:36:01] [INFO] ╭───────────────────────────────────────────────╮
9
+ [Genesis] [19:36:01] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
10
+ [Genesis] [19:36:01] [INFO] ╰───────────────────────────────────────────────╯
11
+ [Genesis] [19:36:01] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
12
+ [Genesis] [19:36:01] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
13
+ [Genesis] [19:36:03] [INFO] Scene <4559e5b> created.
14
+ [Genesis] [19:36:03] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <0eb810f>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
15
+ [Genesis] [19:36:03] [INFO] Preprocessing geom idx 0.
16
+ [Genesis] [19:36:04] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <4b6a0f8>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
17
+ [Genesis] [19:36:05] [INFO] Applying offset to base link's pose with user provided value in morph.
18
+ [Genesis] [19:36:05] [INFO] Preprocessing geom idx 1.
19
+ [Genesis] [19:36:06] [INFO] Preprocessing geom idx 2.
20
+ [Genesis] [19:36:06] [INFO] Preprocessing geom idx 4.
21
+ [Genesis] [19:36:07] [INFO] Preprocessing geom idx 6.
22
+ [Genesis] [19:36:08] [INFO] Preprocessing geom idx 8.
23
+ [Genesis] [19:36:08] [INFO] Preprocessing geom idx 10.
24
+ [Genesis] [19:36:09] [INFO] Preprocessing geom idx 12.
25
+ [Genesis] [19:36:10] [INFO] Preprocessing geom idx 13.
26
+ [Genesis] [19:36:10] [INFO] Preprocessing geom idx 14.
27
+ [Genesis] [19:36:11] [INFO] Preprocessing geom idx 15.
28
+ [Genesis] [19:36:11] [INFO] Preprocessing geom idx 16.
29
+ [Genesis] [19:36:12] [INFO] Preprocessing geom idx 17.
30
+ [Genesis] [19:36:13] [INFO] Preprocessing geom idx 18.
31
+ [Genesis] [19:36:13] [INFO] Preprocessing geom idx 20.
32
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 22.
33
+ [Genesis] [19:36:15] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <acb856b>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
34
+ [Genesis] [19:36:15] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
35
+ [Genesis] [19:36:15] [INFO] Preprocessing geom idx 26.
36
+ [Genesis] [19:36:15] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <2690be2>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
37
+ [Genesis] [19:36:16] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
38
+ [Genesis] [19:36:16] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
39
+ [Genesis] [19:36:16] [INFO] Running convex decomposition.
40
+ [2026-03-11 19:36:16.076] [CoACD] [info] threshold 0.05
41
+ [2026-03-11 19:36:16.077] [CoACD] [info] max # convex hull 16
42
+ [2026-03-11 19:36:16.077] [CoACD] [info] preprocess mode auto
43
+ [2026-03-11 19:36:16.077] [CoACD] [info] preprocess resolution 50
44
+ [2026-03-11 19:36:16.077] [CoACD] [info] pca false
45
+ [2026-03-11 19:36:16.077] [CoACD] [info] mcts max depth 3
46
+ [2026-03-11 19:36:16.077] [CoACD] [info] mcts nodes 20
47
+ [2026-03-11 19:36:16.077] [CoACD] [info] mcts iterations 100
48
+ [2026-03-11 19:36:16.077] [CoACD] [info] merge true
49
+ [2026-03-11 19:36:16.077] [CoACD] [info] decimate true
50
+ [2026-03-11 19:36:16.077] [CoACD] [info] max_ch_vertex 256
51
+ [2026-03-11 19:36:16.077] [CoACD] [info] extrude false
52
+ [2026-03-11 19:36:16.077] [CoACD] [info] extrude margin 0.1
53
+ [2026-03-11 19:36:16.077] [CoACD] [info] approximate mode ch
54
+ [2026-03-11 19:36:16.077] [CoACD] [info] seed 0
55
+ [2026-03-11 19:36:16.077] [CoACD] [info] - Manifold Check
56
+ [2026-03-11 19:36:16.079] [CoACD] [info] Unclosed mesh
57
+ [2026-03-11 19:36:16.079] [CoACD] [info] Manifold Check Time: 0.001889s
58
+ [2026-03-11 19:36:16.080] [CoACD] [info] Mesh Manifoldness: false
59
+ [2026-03-11 19:36:16.080] [CoACD] [info] - Preprocess
60
+ [2026-03-11 19:36:16.080] [CoACD] [info] Preprocess resolution: 50
61
+ [2026-03-11 19:36:16.104] [CoACD] [info] Preprocess Time: 0.315666s
62
+ [2026-03-11 19:36:16.104] [CoACD] [info] # Points: 11508
63
+ [2026-03-11 19:36:16.104] [CoACD] [info] # Triangles: 23012
64
+ [2026-03-11 19:36:16.104] [CoACD] [info] - Decomposition (MCTS)
65
+ [2026-03-11 19:36:16.104] [CoACD] [info] iter 0 ---- waiting pool: 1
66
+ [2026-03-11 19:36:16.105] [CoACD] [info] Processing [0.0%]
67
+ [2026-03-11 19:36:20.160] [CoACD] [info] Processing [100.0%]
68
+ [2026-03-11 19:36:20.160] [CoACD] [info] iter 1 ---- waiting pool: 2
69
+ [2026-03-11 19:36:20.160] [CoACD] [info] Processing [0.0%]
70
+ [2026-03-11 19:36:20.160] [CoACD] [info] Processing [50.0%]
71
+ [2026-03-11 19:36:22.553] [CoACD] [info] Processing [100.0%]
72
+ [2026-03-11 19:36:22.553] [CoACD] [info] iter 2 ---- waiting pool: 2
73
+ [2026-03-11 19:36:22.553] [CoACD] [info] Processing [0.0%]
74
+ [2026-03-11 19:36:22.553] [CoACD] [info] Processing [50.0%]
75
+ [2026-03-11 19:36:22.570] [CoACD] [info] Processing [100.0%]
76
+ [2026-03-11 19:36:22.570] [CoACD] [info] - Merge Convex Hulls
77
+ [2026-03-11 19:36:22.652] [CoACD] [info] - Simplify Convex Hulls
78
+ [2026-03-11 19:36:24.954] [CoACD] [info] Compute Time: 8.849496129900217s
79
+ [2026-03-11 19:36:24.954] [CoACD] [info] # Convex Hulls: 3
80
+ [Genesis] [19:36:24] [INFO] Preprocessing geom idx 27.
81
+ [Genesis] [19:36:25] [INFO] Preprocessing geom idx 28.
82
+ [Genesis] [19:36:26] [INFO] Preprocessing geom idx 29.
83
+ [Genesis] [19:36:26] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <dd33f8f>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
84
+ [Genesis] [19:36:26] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
85
+ [Genesis] [19:36:26] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
86
+ [Genesis] [19:36:26] [INFO] Running convex decomposition.
87
+ [2026-03-11 19:36:26.941] [CoACD] [info] threshold 0.05
88
+ [2026-03-11 19:36:26.941] [CoACD] [info] max # convex hull 16
89
+ [2026-03-11 19:36:26.941] [CoACD] [info] preprocess mode auto
90
+ [2026-03-11 19:36:26.941] [CoACD] [info] preprocess resolution 50
91
+ [2026-03-11 19:36:26.941] [CoACD] [info] pca false
92
+ [2026-03-11 19:36:26.941] [CoACD] [info] mcts max depth 3
93
+ [2026-03-11 19:36:26.941] [CoACD] [info] mcts nodes 20
94
+ [2026-03-11 19:36:26.941] [CoACD] [info] mcts iterations 100
95
+ [2026-03-11 19:36:26.941] [CoACD] [info] merge true
96
+ [2026-03-11 19:36:26.941] [CoACD] [info] decimate true
97
+ [2026-03-11 19:36:26.941] [CoACD] [info] max_ch_vertex 256
98
+ [2026-03-11 19:36:26.941] [CoACD] [info] extrude false
99
+ [2026-03-11 19:36:26.941] [CoACD] [info] extrude margin 0.1
100
+ [2026-03-11 19:36:26.941] [CoACD] [info] approximate mode ch
101
+ [2026-03-11 19:36:26.941] [CoACD] [info] seed 0
102
+ [2026-03-11 19:36:26.941] [CoACD] [info] - Manifold Check
103
+ [2026-03-11 19:36:26.948] [CoACD] [info] Unclosed mesh
104
+ [2026-03-11 19:36:26.948] [CoACD] [info] Manifold Check Time: 0.006202s
105
+ [2026-03-11 19:36:26.949] [CoACD] [info] Mesh Manifoldness: false
106
+ [2026-03-11 19:36:26.949] [CoACD] [info] - Preprocess
107
+ [2026-03-11 19:36:26.949] [CoACD] [info] Preprocess resolution: 50
108
+ [2026-03-11 19:36:26.979] [CoACD] [info] Preprocess Time: 0.473036s
109
+ [2026-03-11 19:36:26.979] [CoACD] [info] # Points: 20886
110
+ [2026-03-11 19:36:26.980] [CoACD] [info] # Triangles: 41768
111
+ [2026-03-11 19:36:26.980] [CoACD] [info] - Decomposition (MCTS)
112
+ [2026-03-11 19:36:26.980] [CoACD] [info] iter 0 ---- waiting pool: 1
113
+ [2026-03-11 19:36:26.980] [CoACD] [info] Processing [0.0%]
114
+ [2026-03-11 19:36:30.890] [CoACD] [info] Processing [100.0%]
115
+ [2026-03-11 19:36:30.891] [CoACD] [info] iter 1 ---- waiting pool: 2
116
+ [2026-03-11 19:36:30.891] [CoACD] [info] Processing [0.0%]
117
+ [2026-03-11 19:36:30.891] [CoACD] [info] Processing [50.0%]
118
+ [2026-03-11 19:36:34.046] [CoACD] [info] Processing [100.0%]
119
+ [2026-03-11 19:36:34.046] [CoACD] [info] iter 2 ---- waiting pool: 4
120
+ [2026-03-11 19:36:34.046] [CoACD] [info] Processing [0.0%]
121
+ [2026-03-11 19:36:34.046] [CoACD] [info] Processing [50.0%]
122
+ [2026-03-11 19:36:34.046] [CoACD] [info] Processing [25.0%]
123
+ [2026-03-11 19:36:34.046] [CoACD] [info] Processing [75.0%]
124
+ [2026-03-11 19:36:35.468] [CoACD] [info] Processing [100.0%]
125
+ [2026-03-11 19:36:35.468] [CoACD] [info] iter 3 ---- waiting pool: 2
126
+ [2026-03-11 19:36:35.468] [CoACD] [info] Processing [0.0%]
127
+ [2026-03-11 19:36:35.468] [CoACD] [info] Processing [50.0%]
128
+ [2026-03-11 19:36:35.477] [CoACD] [info] Processing [100.0%]
129
+ [2026-03-11 19:36:35.477] [CoACD] [info] - Merge Convex Hulls
130
+ [2026-03-11 19:36:35.611] [CoACD] [info] - Simplify Convex Hulls
131
+ [2026-03-11 19:36:35.949] [CoACD] [info] Compute Time: 8.969738160260022s
132
+ [2026-03-11 19:36:35.949] [CoACD] [info] # Convex Hulls: 5
133
+ [Genesis] [19:36:35] [INFO] Preprocessing geom idx 30.
134
+ [Genesis] [19:36:36] [INFO] Preprocessing geom idx 31.
135
+ [Genesis] [19:36:36] [INFO] Preprocessing geom idx 32.
136
+ [Genesis] [19:36:36] [INFO] Preprocessing geom idx 33.
137
+ [Genesis] [19:36:36] [INFO] Preprocessing geom idx 34.
138
+ [Genesis] [19:36:36] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <ffc4711>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
139
+ [Genesis] [19:36:36] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
140
+ [Genesis] [19:36:36] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
141
+ [Genesis] [19:36:36] [INFO] Running convex decomposition.
142
+ [2026-03-11 19:36:36.817] [CoACD] [info] threshold 0.05
143
+ [2026-03-11 19:36:36.817] [CoACD] [info] max # convex hull 16
144
+ [2026-03-11 19:36:36.817] [CoACD] [info] preprocess mode auto
145
+ [2026-03-11 19:36:36.817] [CoACD] [info] preprocess resolution 50
146
+ [2026-03-11 19:36:36.817] [CoACD] [info] pca false
147
+ [2026-03-11 19:36:36.817] [CoACD] [info] mcts max depth 3
148
+ [2026-03-11 19:36:36.817] [CoACD] [info] mcts nodes 20
149
+ [2026-03-11 19:36:36.817] [CoACD] [info] mcts iterations 100
150
+ [2026-03-11 19:36:36.817] [CoACD] [info] merge true
151
+ [2026-03-11 19:36:36.817] [CoACD] [info] decimate true
152
+ [2026-03-11 19:36:36.817] [CoACD] [info] max_ch_vertex 256
153
+ [2026-03-11 19:36:36.817] [CoACD] [info] extrude false
154
+ [2026-03-11 19:36:36.817] [CoACD] [info] extrude margin 0.1
155
+ [2026-03-11 19:36:36.817] [CoACD] [info] approximate mode ch
156
+ [2026-03-11 19:36:36.817] [CoACD] [info] seed 0
157
+ [2026-03-11 19:36:36.817] [CoACD] [info] - Manifold Check
158
+ [2026-03-11 19:36:36.820] [CoACD] [info] Unclosed mesh
159
+ [2026-03-11 19:36:36.820] [CoACD] [info] Manifold Check Time: 0.002311s
160
+ [2026-03-11 19:36:36.820] [CoACD] [info] Mesh Manifoldness: false
161
+ [2026-03-11 19:36:36.820] [CoACD] [info] - Preprocess
162
+ [2026-03-11 19:36:36.820] [CoACD] [info] Preprocess resolution: 50
163
+ [2026-03-11 19:36:36.837] [CoACD] [info] Preprocess Time: 0.26622s
164
+ [2026-03-11 19:36:36.838] [CoACD] [info] # Points: 9894
165
+ [2026-03-11 19:36:36.838] [CoACD] [info] # Triangles: 19784
166
+ [2026-03-11 19:36:36.838] [CoACD] [info] - Decomposition (MCTS)
167
+ [2026-03-11 19:36:36.838] [CoACD] [info] iter 0 ---- waiting pool: 1
168
+ [2026-03-11 19:36:36.838] [CoACD] [info] Processing [0.0%]
169
+ [2026-03-11 19:36:39.727] [CoACD] [info] Processing [100.0%]
170
+ [2026-03-11 19:36:39.727] [CoACD] [info] iter 1 ---- waiting pool: 2
171
+ [2026-03-11 19:36:39.727] [CoACD] [info] Processing [0.0%]
172
+ [2026-03-11 19:36:39.727] [CoACD] [info] Processing [50.0%]
173
+ [2026-03-11 19:36:41.838] [CoACD] [info] Processing [100.0%]
174
+ [2026-03-11 19:36:41.838] [CoACD] [info] iter 2 ---- waiting pool: 4
175
+ [2026-03-11 19:36:41.842] [CoACD] [info] Processing [0.0%]
176
+ [2026-03-11 19:36:41.842] [CoACD] [info] Processing [75.0%]
177
+ [2026-03-11 19:36:41.842] [CoACD] [info] Processing [25.0%]
178
+ [2026-03-11 19:36:41.842] [CoACD] [info] Processing [50.0%]
179
+ [2026-03-11 19:36:43.120] [CoACD] [info] Processing [100.0%]
180
+ [2026-03-11 19:36:43.120] [CoACD] [info] iter 3 ---- waiting pool: 2
181
+ [2026-03-11 19:36:43.120] [CoACD] [info] Processing [0.0%]
182
+ [2026-03-11 19:36:43.120] [CoACD] [info] Processing [50.0%]
183
+ [2026-03-11 19:36:43.128] [CoACD] [info] Processing [100.0%]
184
+ [2026-03-11 19:36:43.128] [CoACD] [info] - Merge Convex Hulls
185
+ [2026-03-11 19:36:43.207] [CoACD] [info] - Simplify Convex Hulls
186
+ [2026-03-11 19:36:43.509] [CoACD] [info] Compute Time: 6.671095670666546s
187
+ [2026-03-11 19:36:43.509] [CoACD] [info] # Convex Hulls: 5
188
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 35.
189
+ [Genesis] [19:36:43] [INFO] Preprocessing geom idx 36.
190
+ [Genesis] [19:36:44] [INFO] Preprocessing geom idx 37.
191
+ [Genesis] [19:36:44] [INFO] Preprocessing geom idx 38.
192
+ [Genesis] [19:36:44] [INFO] Preprocessing geom idx 39.
193
+ [Genesis] [19:36:45] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <92565dc>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
194
+ [Genesis] [19:36:45] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
195
+ [Genesis] [19:36:45] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
196
+ [Genesis] [19:36:45] [INFO] Running convex decomposition.
197
+ [2026-03-11 19:36:45.473] [CoACD] [info] threshold 0.05
198
+ [2026-03-11 19:36:45.473] [CoACD] [info] max # convex hull 16
199
+ [2026-03-11 19:36:45.474] [CoACD] [info] preprocess mode auto
200
+ [2026-03-11 19:36:45.474] [CoACD] [info] preprocess resolution 50
201
+ [2026-03-11 19:36:45.474] [CoACD] [info] pca false
202
+ [2026-03-11 19:36:45.474] [CoACD] [info] mcts max depth 3
203
+ [2026-03-11 19:36:45.474] [CoACD] [info] mcts nodes 20
204
+ [2026-03-11 19:36:45.474] [CoACD] [info] mcts iterations 100
205
+ [2026-03-11 19:36:45.474] [CoACD] [info] merge true
206
+ [2026-03-11 19:36:45.474] [CoACD] [info] decimate true
207
+ [2026-03-11 19:36:45.474] [CoACD] [info] max_ch_vertex 256
208
+ [2026-03-11 19:36:45.474] [CoACD] [info] extrude false
209
+ [2026-03-11 19:36:45.474] [CoACD] [info] extrude margin 0.1
210
+ [2026-03-11 19:36:45.474] [CoACD] [info] approximate mode ch
211
+ [2026-03-11 19:36:45.474] [CoACD] [info] seed 0
212
+ [2026-03-11 19:36:45.475] [CoACD] [info] - Manifold Check
213
+ [2026-03-11 19:36:45.495] [CoACD] [info] Unclosed mesh
214
+ [2026-03-11 19:36:45.495] [CoACD] [info] Manifold Check Time: 0.019641s
215
+ [2026-03-11 19:36:45.499] [CoACD] [info] Mesh Manifoldness: false
216
+ [2026-03-11 19:36:45.499] [CoACD] [info] - Preprocess
217
+ [2026-03-11 19:36:45.499] [CoACD] [info] Preprocess resolution: 50
218
+ [2026-03-11 19:36:45.550] [CoACD] [info] Preprocess Time: 0.786103s
219
+ [2026-03-11 19:36:45.551] [CoACD] [info] # Points: 43752
220
+ [2026-03-11 19:36:45.551] [CoACD] [info] # Triangles: 87600
221
+ [2026-03-11 19:36:45.551] [CoACD] [info] - Decomposition (MCTS)
222
+ [2026-03-11 19:36:45.551] [CoACD] [info] iter 0 ---- waiting pool: 1
223
+ [2026-03-11 19:36:45.551] [CoACD] [info] Processing [0.0%]
224
+ [2026-03-11 19:36:51.443] [CoACD] [info] Processing [100.0%]
225
+ [2026-03-11 19:36:51.444] [CoACD] [info] iter 1 ---- waiting pool: 2
226
+ [2026-03-11 19:36:51.444] [CoACD] [info] Processing [0.0%]
227
+ [2026-03-11 19:36:51.444] [CoACD] [info] Processing [50.0%]
228
+ [2026-03-11 19:36:54.958] [CoACD] [info] Processing [100.0%]
229
+ [2026-03-11 19:36:54.958] [CoACD] [info] iter 2 ---- waiting pool: 4
230
+ [2026-03-11 19:36:54.958] [CoACD] [info] Processing [0.0%]
231
+ [2026-03-11 19:36:54.958] [CoACD] [info] Processing [25.0%]
232
+ [2026-03-11 19:36:54.958] [CoACD] [info] Processing [75.0%]
233
+ [2026-03-11 19:36:54.958] [CoACD] [info] Processing [50.0%]
234
+ [2026-03-11 19:36:57.227] [CoACD] [info] Processing [100.0%]
235
+ [2026-03-11 19:36:57.228] [CoACD] [info] iter 3 ---- waiting pool: 8
236
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [12.5%]
237
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [87.5%]
238
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [37.5%]
239
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [0.0%]
240
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [62.5%]
241
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [75.0%]
242
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [50.0%]
243
+ [2026-03-11 19:36:57.231] [CoACD] [info] Processing [25.0%]
244
+ [2026-03-11 19:36:59.093] [CoACD] [info] Processing [100.0%]
245
+ [2026-03-11 19:36:59.094] [CoACD] [info] iter 4 ---- waiting pool: 14
246
+ [2026-03-11 19:36:59.095] [CoACD] [info] Processing [0.0%]
247
+ [2026-03-11 19:36:59.095] [CoACD] [info] Processing [57.1%]
248
+ [2026-03-11 19:36:59.095] [CoACD] [info] Processing [14.3%]
249
+ [2026-03-11 19:36:59.095] [CoACD] [info] Processing [28.6%]
250
+ [2026-03-11 19:36:59.095] [CoACD] [info] Processing [42.9%]
251
+ [2026-03-11 19:36:59.095] [CoACD] [info] Processing [85.7%]
252
+ [2026-03-11 19:36:59.095] [CoACD] [info] Processing [71.4%]
253
+ [2026-03-11 19:37:00.347] [CoACD] [info] Processing [100.0%]
254
+ [2026-03-11 19:37:00.347] [CoACD] [info] iter 5 ---- waiting pool: 16
255
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [0.0%]
256
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [12.5%]
257
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [25.0%]
258
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [75.0%]
259
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [37.5%]
260
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [50.0%]
261
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [62.5%]
262
+ [2026-03-11 19:37:00.350] [CoACD] [info] Processing [87.5%]
263
+ [2026-03-11 19:37:01.266] [CoACD] [info] Processing [100.0%]
264
+ [2026-03-11 19:37:01.266] [CoACD] [info] iter 6 ---- waiting pool: 24
265
+ [2026-03-11 19:37:01.270] [CoACD] [info] Processing [25.0%]
266
+ [2026-03-11 19:37:01.270] [CoACD] [info] Processing [75.0%]
267
+ [2026-03-11 19:37:01.270] [CoACD] [info] Processing [50.0%]
268
+ [2026-03-11 19:37:01.270] [CoACD] [info] Processing [87.5%]
269
+ [2026-03-11 19:37:01.274] [CoACD] [info] Processing [0.0%]
270
+ [2026-03-11 19:37:01.279] [CoACD] [info] Processing [12.5%]
271
+ [2026-03-11 19:37:01.280] [CoACD] [info] Processing [37.5%]
272
+ [2026-03-11 19:37:01.281] [CoACD] [info] Processing [62.5%]
273
+ [2026-03-11 19:37:01.770] [CoACD] [info] Processing [100.0%]
274
+ [2026-03-11 19:37:01.770] [CoACD] [info] iter 7 ---- waiting pool: 2
275
+ [2026-03-11 19:37:01.770] [CoACD] [info] Processing [0.0%]
276
+ [2026-03-11 19:37:01.770] [CoACD] [info] Processing [50.0%]
277
+ [2026-03-11 19:37:01.776] [CoACD] [info] Processing [100.0%]
278
+ [2026-03-11 19:37:01.776] [CoACD] [info] - Merge Convex Hulls
279
+ [2026-03-11 19:37:05.412] [CoACD] [warning] Max concavity 0.06892953365533017 exceeds the threshold 0.05 due to 16 convex hull limitation
280
+ [2026-03-11 19:37:05.412] [CoACD] [info] - Simplify Convex Hulls
281
+ [2026-03-11 19:37:05.432] [CoACD] [info] Compute Time: 19.881642560940236s
282
+ [2026-03-11 19:37:05.432] [CoACD] [info] # Convex Hulls: 16
283
+ [Genesis] [19:37:05] [INFO] Preprocessing geom idx 40.
284
+ [Genesis] [19:37:05] [INFO] Preprocessing geom idx 41.
285
+ [Genesis] [19:37:05] [INFO] Preprocessing geom idx 42.
286
+ [Genesis] [19:37:05] [INFO] Preprocessing geom idx 43.
287
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 44.
288
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 45.
289
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 46.
290
+ [Genesis] [19:37:06] [INFO] Preprocessing geom idx 47.
291
+ [Genesis] [19:37:07] [INFO] Preprocessing geom idx 48.
292
+ [Genesis] [19:37:07] [INFO] Preprocessing geom idx 49.
293
+ [Genesis] [19:37:07] [INFO] Preprocessing geom idx 50.
294
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 51.
295
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 52.
296
+ [Genesis] [19:37:08] [INFO] Preprocessing geom idx 53.
297
+ [Genesis] [19:37:09] [INFO] Preprocessing geom idx 54.
298
+ [Genesis] [19:37:09] [INFO] Preprocessing geom idx 55.
299
+ [Genesis] [19:37:09] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <87404a9>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
300
+ [Genesis] [19:37:09] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
301
+ [Genesis] [19:37:09] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
302
+ [Genesis] [19:37:09] [INFO] Running convex decomposition.
303
+ [2026-03-11 19:37:09.768] [CoACD] [info] threshold 0.05
304
+ [2026-03-11 19:37:09.768] [CoACD] [info] max # convex hull 16
305
+ [2026-03-11 19:37:09.768] [CoACD] [info] preprocess mode auto
306
+ [2026-03-11 19:37:09.768] [CoACD] [info] preprocess resolution 50
307
+ [2026-03-11 19:37:09.768] [CoACD] [info] pca false
308
+ [2026-03-11 19:37:09.768] [CoACD] [info] mcts max depth 3
309
+ [2026-03-11 19:37:09.768] [CoACD] [info] mcts nodes 20
310
+ [2026-03-11 19:37:09.768] [CoACD] [info] mcts iterations 100
311
+ [2026-03-11 19:37:09.768] [CoACD] [info] merge true
312
+ [2026-03-11 19:37:09.768] [CoACD] [info] decimate true
313
+ [2026-03-11 19:37:09.768] [CoACD] [info] max_ch_vertex 256
314
+ [2026-03-11 19:37:09.768] [CoACD] [info] extrude false
315
+ [2026-03-11 19:37:09.768] [CoACD] [info] extrude margin 0.1
316
+ [2026-03-11 19:37:09.768] [CoACD] [info] approximate mode ch
317
+ [2026-03-11 19:37:09.768] [CoACD] [info] seed 0
318
+ [2026-03-11 19:37:09.768] [CoACD] [info] - Manifold Check
319
+ [2026-03-11 19:37:09.771] [CoACD] [info] Unclosed mesh
320
+ [2026-03-11 19:37:09.771] [CoACD] [info] Manifold Check Time: 0.002772s
321
+ [2026-03-11 19:37:09.771] [CoACD] [info] Mesh Manifoldness: false
322
+ [2026-03-11 19:37:09.772] [CoACD] [info] - Preprocess
323
+ [2026-03-11 19:37:09.772] [CoACD] [info] Preprocess resolution: 50
324
+ [2026-03-11 19:37:09.789] [CoACD] [info] Preprocess Time: 0.274587s
325
+ [2026-03-11 19:37:09.790] [CoACD] [info] # Points: 10146
326
+ [2026-03-11 19:37:09.790] [CoACD] [info] # Triangles: 20292
327
+ [2026-03-11 19:37:09.790] [CoACD] [info] - Decomposition (MCTS)
328
+ [2026-03-11 19:37:09.790] [CoACD] [info] iter 0 ---- waiting pool: 1
329
+ [2026-03-11 19:37:09.790] [CoACD] [info] Processing [0.0%]
330
+ [2026-03-11 19:37:12.049] [CoACD] [info] Processing [100.0%]
331
+ [2026-03-11 19:37:12.049] [CoACD] [info] iter 1 ---- waiting pool: 2
332
+ [2026-03-11 19:37:12.049] [CoACD] [info] Processing [0.0%]
333
+ [2026-03-11 19:37:12.049] [CoACD] [info] Processing [50.0%]
334
+ [2026-03-11 19:37:13.339] [CoACD] [info] Processing [100.0%]
335
+ [2026-03-11 19:37:13.339] [CoACD] [info] iter 2 ---- waiting pool: 2
336
+ [2026-03-11 19:37:13.339] [CoACD] [info] Processing [0.0%]
337
+ [2026-03-11 19:37:13.339] [CoACD] [info] Processing [50.0%]
338
+ [2026-03-11 19:37:14.306] [CoACD] [info] Processing [100.0%]
339
+ [2026-03-11 19:37:14.306] [CoACD] [info] iter 3 ---- waiting pool: 4
340
+ [2026-03-11 19:37:14.306] [CoACD] [info] Processing [0.0%]
341
+ [2026-03-11 19:37:14.306] [CoACD] [info] Processing [75.0%]
342
+ [2026-03-11 19:37:14.306] [CoACD] [info] Processing [25.0%]
343
+ [2026-03-11 19:37:14.306] [CoACD] [info] Processing [50.0%]
344
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [100.0%]
345
+ [2026-03-11 19:37:15.123] [CoACD] [info] iter 4 ---- waiting pool: 8
346
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [50.0%]
347
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [37.5%]
348
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [12.5%]
349
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [75.0%]
350
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [87.5%]
351
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [25.0%]
352
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [62.5%]
353
+ [2026-03-11 19:37:15.123] [CoACD] [info] Processing [0.0%]
354
+ [2026-03-11 19:37:15.664] [CoACD] [info] Processing [100.0%]
355
+ [2026-03-11 19:37:15.664] [CoACD] [info] iter 5 ---- waiting pool: 16
356
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [0.0%]
357
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [37.5%]
358
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [87.5%]
359
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [62.5%]
360
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [12.5%]
361
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [25.0%]
362
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [50.0%]
363
+ [2026-03-11 19:37:15.665] [CoACD] [info] Processing [75.0%]
364
+ [2026-03-11 19:37:16.154] [CoACD] [info] Processing [100.0%]
365
+ [2026-03-11 19:37:16.154] [CoACD] [info] iter 6 ---- waiting pool: 22
366
+ [2026-03-11 19:37:16.154] [CoACD] [info] Processing [0.0%]
367
+ [2026-03-11 19:37:16.154] [CoACD] [info] Processing [27.3%]
368
+ [2026-03-11 19:37:16.154] [CoACD] [info] Processing [54.5%]
369
+ [2026-03-11 19:37:16.154] [CoACD] [info] Processing [68.2%]
370
+ [2026-03-11 19:37:16.154] [CoACD] [info] Processing [95.5%]
371
+ [2026-03-11 19:37:16.154] [CoACD] [info] Processing [81.8%]
372
+ [2026-03-11 19:37:16.170] [CoACD] [info] Processing [13.6%]
373
+ [2026-03-11 19:37:16.171] [CoACD] [info] Processing [40.9%]
374
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [100.0%]
375
+ [2026-03-11 19:37:16.506] [CoACD] [info] iter 7 ---- waiting pool: 8
376
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [50.0%]
377
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [0.0%]
378
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [12.5%]
379
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [25.0%]
380
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [37.5%]
381
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [62.5%]
382
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [87.5%]
383
+ [2026-03-11 19:37:16.506] [CoACD] [info] Processing [75.0%]
384
+ [2026-03-11 19:37:16.517] [CoACD] [info] Processing [100.0%]
385
+ [2026-03-11 19:37:16.517] [CoACD] [info] - Merge Convex Hulls
386
+ [2026-03-11 19:37:17.241] [CoACD] [info] - Simplify Convex Hulls
387
+ [2026-03-11 19:37:17.503] [CoACD] [info] Compute Time: 7.713561750948429s
388
+ [2026-03-11 19:37:17.503] [CoACD] [info] # Convex Hulls: 16
389
+ [Genesis] [19:37:17] [INFO] Preprocessing geom idx 56.
390
+ [Genesis] [19:37:17] [INFO] Preprocessing geom idx 57.
391
+ [Genesis] [19:37:17] [INFO] Preprocessing geom idx 58.
392
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 59.
393
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 60.
394
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 61.
395
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 62.
396
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 63.
397
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 64.
398
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 65.
399
+ [Genesis] [19:37:18] [INFO] Preprocessing geom idx 66.
400
+ [Genesis] [19:37:19] [INFO] Preprocessing geom idx 67.
401
+ [Genesis] [19:37:19] [INFO] Preprocessing geom idx 68.
402
+ [Genesis] [19:37:19] [INFO] Preprocessing geom idx 69.
403
+ [Genesis] [19:37:19] [INFO] Preprocessing geom idx 70.
404
+ [Genesis] [19:37:19] [INFO] Preprocessing geom idx 71.
405
+ [Genesis] [19:37:20] [INFO] Building scene <4559e5b>...
406
+ [Genesis] [19:37:22] [WARNING] Reference robot position exceeds joint limits.
407
+ [Genesis] [19:37:27] [INFO] Compiling simulation kernels...
408
+ [Genesis] [19:37:45] [INFO] Building visualizer...
409
+ next_episode=1343 next_index=8167
410
+ [Genesis] [19:45:35] [INFO] 💤 Exiting Genesis and caching compiled kernels...
411
+ Batch batch_029 done!
412
+
413
+ ──────────────────────────────────────────
414
+ Batch 29: batch_030 (start_episode=1349, n_episodes=43)
415
+ ──────────────────────────────────────────
416
+ [Genesis] [19:45:43] [INFO] ╭───────────────────────────────────────────────╮
417
+ [Genesis] [19:45:43] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
418
+ [Genesis] [19:45:43] [INFO] ╰───────────────────────────────────────────────╯
419
+ [Genesis] [19:45:43] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
420
+ [Genesis] [19:45:43] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
421
+ [Genesis] [19:45:45] [INFO] Scene <37e0abb> created.
422
+ [Genesis] [19:45:45] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <d8ee8b8>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
423
+ [Genesis] [19:45:45] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <11cb4cb>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
424
+ [Genesis] [19:45:46] [INFO] Applying offset to base link's pose with user provided value in morph.
425
+ [Genesis] [19:45:48] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <1a1e1d3>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
426
+ [Genesis] [19:45:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
427
+ [Genesis] [19:45:48] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <5b6866c>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
428
+ [Genesis] [19:45:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
429
+ [Genesis] [19:45:48] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
430
+ [Genesis] [19:45:48] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <c612be5>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
431
+ [Genesis] [19:45:48] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
432
+ [Genesis] [19:45:49] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
433
+ [Genesis] [19:45:49] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <f2ecf17>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
434
+ [Genesis] [19:45:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
435
+ [Genesis] [19:45:49] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
436
+ [Genesis] [19:45:49] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <cfbfa8d>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
437
+ [Genesis] [19:45:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
438
+ [Genesis] [19:45:49] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
439
+ [Genesis] [19:45:49] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <34fbf50>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
440
+ [Genesis] [19:45:49] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
441
+ [Genesis] [19:45:49] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
442
+ [Genesis] [19:45:49] [INFO] Building scene <37e0abb>...
443
+ [Genesis] [19:45:51] [WARNING] Reference robot position exceeds joint limits.
444
+ [Genesis] [19:45:52] [INFO] Compiling simulation kernels...
445
+ [Genesis] [19:45:53] [INFO] Building visualizer...
446
+ next_episode=1390 next_index=8334
447
+ [Genesis] [19:53:16] [INFO] 💤 Exiting Genesis and caching compiled kernels...
448
+ Batch batch_030 done!
449
+
450
+ ──────────────────────────────────────────
451
+ Batch 30: batch_031 (start_episode=1392, n_episodes=45)
452
+ ──────────────────────────────────────────
453
+ [Genesis] [19:53:25] [INFO] ╭───────────────────────────────────────────────╮
454
+ [Genesis] [19:53:25] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈│
455
+ [Genesis] [19:53:25] [INFO] ╰───────────────────────────────────────────────╯
456
+ [Genesis] [19:53:26] [INFO] Running on [NVIDIA RTX PRO 6000 Blackwell Server Edition] with backend gs.cuda. Device memory: 94.97 GB.
457
+ [Genesis] [19:53:26] [INFO] 🚀 Genesis initialized. 🔖 version: 0.3.10, 🎨 theme: dark, 🌱 seed: None, 🐛 debug: False, 📏 precision: 32, 🔥 performance: False, 💬 verbose: INFO
458
+ [Genesis] [19:53:28] [INFO] Scene <6600d2c> created.
459
+ [Genesis] [19:53:28] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <9c01414>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
460
+ [Genesis] [19:53:29] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <b30d298>, morph: <gs.morphs.URDF(file='/mnt/home/yian/.cache/huggingface/hub/datasets--Genesis-Intelligence--gs-gym-assets/snapshots/b16da77b405c20dadb4160ef8f7e9fad0680f293/toolbench/marvin_bimanual/urdf/tianji_bimanual_description_wo_sphere.urdf')>, material: <gs.materials.Rigid>.
461
+ [Genesis] [19:53:30] [INFO] Applying offset to base link's pose with user provided value in morph.
462
+ [Genesis] [19:53:32] [INFO] Adding <gs.RigidEntity>. idx: 2, uid: <00a8eb4>, morph: <gs.morphs.Mesh(file='/mnt/data/yian/Digital_twin_asset/86cbe58c-9d98-4c23-a9e3-46e43c4ac11e.glb')>, material: <gs.materials.Rigid>.
463
+ [Genesis] [19:53:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
464
+ [Genesis] [19:53:32] [INFO] Adding <gs.RigidEntity>. idx: 3, uid: <578303a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/banana/banana_scan.glb')>, material: <gs.materials.Rigid>.
465
+ [Genesis] [19:53:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
466
+ [Genesis] [19:53:32] [INFO] Convex hull is not accurate enough for collision detection (0.386). Falling back to more expensive convex decomposition (see FileMorph options).
467
+ [Genesis] [19:53:32] [INFO] Adding <gs.RigidEntity>. idx: 4, uid: <c2b211a>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/bread/bread.glb')>, material: <gs.materials.Rigid>.
468
+ [Genesis] [19:53:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
469
+ [Genesis] [19:53:32] [INFO] Convex hull is not accurate enough for collision detection (0.166). Falling back to more expensive convex decomposition (see FileMorph options).
470
+ [Genesis] [19:53:32] [INFO] Adding <gs.RigidEntity>. idx: 5, uid: <e11a565>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/chili/green_chili.glb')>, material: <gs.materials.Rigid>.
471
+ [Genesis] [19:53:32] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
472
+ [Genesis] [19:53:32] [INFO] Convex hull is not accurate enough for collision detection (0.224). Falling back to more expensive convex decomposition (see FileMorph options).
473
+ [Genesis] [19:53:33] [INFO] Adding <gs.RigidEntity>. idx: 6, uid: <8997a74>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/basket/basket_scan.glb')>, material: <gs.materials.Rigid>.
474
+ [Genesis] [19:53:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
475
+ [Genesis] [19:53:33] [INFO] Convex hull is not accurate enough for collision detection (13.901). Falling back to more expensive convex decomposition (see FileMorph options).
476
+ [Genesis] [19:53:33] [INFO] Adding <gs.RigidEntity>. idx: 7, uid: <ca1eb62>, morph: <gs.morphs.Mesh(file='/mnt/home/yian/Digital_twin_asset/verified/carrot/carrot.glb')>, material: <gs.materials.Rigid>.
477
+ [Genesis] [19:53:33] [WARNING] GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by default later and gradually enforce this option.
478
+ [Genesis] [19:53:33] [INFO] Convex hull is not accurate enough for collision detection (2.396). Falling back to more expensive convex decomposition (see FileMorph options).
479
+ [Genesis] [19:53:33] [INFO] Building scene <6600d2c>...
480
+ [Genesis] [19:53:35] [WARNING] Reference robot position exceeds joint limits.
481
+ [Genesis] [19:53:36] [INFO] Compiling simulation kernels...
482
+ [Genesis] [19:53:37] [INFO] Building visualizer...
483
+ next_episode=1432 next_index=7948
484
+ [Genesis] [20:00:57] [INFO] 💤 Exiting Genesis and caching compiled kernels...
485
+ Batch batch_031 done!
486
+
487
+ ==========================================
488
+ Worker 7 complete!
489
+ ==========================================
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