[robomme_job] holy7c04203.rc.fas.harvard.edu SAPIEN_RENDER_DEVICE=cpu
/n/netscratch/sham_lab/Lab/chloe00/venvs/robomme/lib/python3.11/site-packages/sapien/__init__.py:18: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
  import pkg_resources
/n/netscratch/sham_lab/Lab/chloe00/venvs/robomme/lib/python3.11/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find system libvulkan. Fallback to SAPIEN builtin libvulkan.
  warn("Failed to find system libvulkan. Fallback to SAPIEN builtin libvulkan.")
/n/netscratch/sham_lab/Lab/chloe00/venvs/robomme/lib/python3.11/site-packages/torch/cuda/__init__.py:63: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
  import pynvml  # type: ignore[import]
2026-10-20 20:57:10,643 - mani_skill  - WARNING - Requested to use render device "sapien_cuda", but CUDA device was not found. Falling back to "cpu" device. Rendering might be disabled.
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
Task PatternLock episode 1 (seed 650100, difficulty easy): watch the video carefully, then use the stick attached to the robot to retrace the same pattern
Video: 96 frames
Workspace: /n/netscratch/sham_lab/Lab/chloe00/robomme_runs/dev/PatternLock_ep1
2026-10-20 20:57:59,817 mfm.backend.codex_turn [codex] turn 1 model=gpt-6.1-sol resume=no images=3
2026-10-20 20:58:36,614 mfm.backend.codex_turn [codex] session 01a15bf7-0f66-7371-8f23-b3c6e89db835
2026-10-20 20:58:38,618 mfm.agent.base [mfm-robomme] turn 1 attempt 1/3 produced no usable plan (actions.json did not parse as a plan)
2026-10-20 20:58:38,644 mfm.backend.codex_turn [codex] turn 2 model=gpt-6.1-sol resume=yes images=3
2026-10-20 20:58:53,855 mfm.agent.base [mfm-robomme] turn 2 attempt 2/3 produced no usable plan (actions.json did not parse as a plan)
2026-10-20 20:58:53,868 mfm.backend.codex_turn [codex] turn 3 model=gpt-6.1-sol resume=yes images=3
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
Warning: link 'camera_link' material 'aluminum' undefined.
         at line 85 in /workspace/urdfdom/urdf_parser/src/model.cpp
[entry 1] {"op": "move", "xyz": [-0.2, 0, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 19)
[entry 2] {"op": "move", "xyz": [-0.2, -0.1, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 45)
[entry 3] {"op": "move", "xyz": [-0.1, 0, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 72)
[entry 4] {"op": "move", "xyz": [-0.2, 0.1, 0.015], "gripper": "close"} -> ok=True status=success (control step 98)
2026-10-20 20:59:24,865 mfm.agent.base [mfm-robomme] the episode is over (success): flushing 1 queued step(s) and re-planning
{"task": "PatternLock", "episode": 1, "success": true, "stopped_by": "success", "entries": 4, "sim_steps": 98} 
Workspace: /n/netscratch/sham_lab/Lab/chloe00/robomme_runs/dev/PatternLock_ep1