--- license: cc-by-4.0 language: - en pretty_name: baseline_3 v4 - Sim Collection Assets (ARCHIVED) tags: - robotics - manipulation - grasping - diffusion-policy - franka - dexycb - collection-assets - archived size_categories: - 1B **2026-05-26 — STATUS: ARCHIVED / REFERENCE-ONLY.** > > The plan to run sim collection on the A6000 was **abandoned** this round > due to a glibc incompatibility: the A6000 system glibc is 2.31 (Ubuntu > 20.04) but IsaacSim 5.1.0 requires glibc 2.35 (Ubuntu 24.04). All sim > collection (DexYCB + OakInk) was completed on the dev box (RTX 5090). > > The contents of this dataset (tarballs of source episodes, USDs, scripts, > partial results log) are kept for reference and reproducibility — the > code links remain accurate — but the "run the resume on A6000" > instructions below are **no longer the current plan**. > > **For the current state of the data and training pipeline, see:** > - DexYCB-sourced training trajectories (162 ep) → > [`UCBProject/DP3_DexYCB_training_data`](https://huggingface.co/datasets/UCBProject/DP3_DexYCB_training_data) > - OakInk-sourced training trajectories (207 ep) → > [`UCBProject/DP3_OakInk_training_data`](https://huggingface.co/datasets/UCBProject/DP3_OakInk_training_data) > > The DexYCB README also documents the new **combined 369-ep training run** > on A6000. --- ## What's in this archived package | file | size | purpose | |------|------|---------| | `episodes_g.tar.gz` | 1.2 GB | 900 retargeted DexYCB hdf5 (collector INPUT for the sim collection that ran on the dev box). Includes ycb_dex_01–20 minus the no-data ones; specifically the **newly retargeted dex_11 (pitcher) + dex_14 (mug)** missing from previous runs. | | `obj_usd_cad_ycb.tar.gz` | 489 MB | YCB CAD USDs (17 files, Z-up tagged) + textures. Includes the **new dex_11/14/19 USDs** generated this round. | | `episodes_b3_v4_15obj_3yaw_2026-05-25.tar.gz` | 266 MB | Already-collected sim hdf5 for 6 objects (tuna 06, tomato 04, pudding 07, gelatin 08, marker 18, potted_meat 09) at the time the partial results log was snapshotted. | | `v4_full15_results_2026-05-25.txt` | 1.5 KB | Partial results log with 6 DONE_RETRY entries (point-in-time snapshot before the run continued on the dev box). | | `v4_full15_queue_resume.sh` | 4.6 KB | Resume-aware orchestrator (2-parallel). Repo canonical version under `scripts/baseline_3_v4/`. | | `v4_chunked_with_retry.sh` | 4.6 KB | Per-object chunk-5+retry wrapper. Repo canonical version under `scripts/baseline_3_v4/`. | **Source code (canonical)**: [`stzabl-png/UCB_Project @ gate3-curobo-ik`](https://github.com/stzabl-png/UCB_Project/tree/gate3-curobo-ik) — `sim/run_grasp_sim_baseline3_v4.py` and `scripts/baseline_3_v4/*.sh`. The OakInk-specific orchestrator (added 2026-05-26) lives at `scripts/baseline_3_v4/oakink_full89_queue_resume.sh` in the same repo. --- ## How sim collection actually ran (2026-05-25 + 2026-05-26) All on the dev box (RTX 5090, Ubuntu 24.04, glibc 2.35): | Run | Date | Result | |------|------|--------| | DexYCB resume — 15 obj, 2-parallel chunked-5 | 2026-05-25 | **162 successful trajectories** across 10 objects → `UCBProject/DP3_DexYCB_training_data` | | OakInk full — 89 obj, 2-parallel chunked-5 | 2026-05-26 | **207 successful trajectories** across 45 objects (44 obj contributed 0 due to obj geometry / Franka kinematic limits) → `UCBProject/DP3_OakInk_training_data` | --- ## Why the A6000 was dropped from the collection pipeline Diagnosed 2026-05-25: ``` $ python -c "from isaacsim import SimulationApp" ImportError: /lib/x86_64-linux-gnu/libc.so.6: version 'GLIBC_2.35' not found (required by .../isaacsim-5.1.0/_build/lib/libomni.kit.app.so) ``` A6000 system glibc 2.31 is fixed by the Ubuntu 20.04 base; bumping the system libc to 2.35 in-place is not safe. Containerizing IsaacSim would work but adds a deployment burden we decided wasn't worth it for sim collection that runs on the dev box anyway. The A6000 stays on training. --- ## Original "resume on A6000" instructions (DEPRECATED — kept for reference)
Click to expand the original A6000 sim-collection guide. This was written before the glibc issue was diagnosed; it is no longer the plan. Follow the new training instructions in the DexYCB dataset README instead. The instructions below describe how the A6000 sim collection *would* have worked if glibc had been compatible. They are kept verbatim for reproducibility; do not follow them on the current A6000. ### env_isaaclab install (requires glibc ≥ 2.35) ```bash conda create -n env_isaaclab python=3.11 -y conda activate env_isaaclab pip install --upgrade --extra-index-url=https://pypi.nvidia.com isaacsim==5.1.0 pip install --extra-index-url=https://pypi.nvidia.com nvidia-curobo pip install h5py scipy 'numpy<2' termcolor pyyaml requests usd-core ``` ### Download + extract from this archive ```bash cd UCB_Project pip install huggingface_hub mkdir -p Baseline1/data output huggingface-cli download UCBProject/baseline_3_v4_collection_assets \ --repo-type dataset --local-dir /tmp/v4_pkg tar xzf /tmp/v4_pkg/episodes_g.tar.gz tar xzf /tmp/v4_pkg/obj_usd_cad_ycb.tar.gz tar xzf /tmp/v4_pkg/episodes_b3_v4_15obj_3yaw_2026-05-25.tar.gz cp /tmp/v4_pkg/v4_full15_results_2026-05-25.txt /tmp/ ``` ### Run the resume ```bash cd UCB_Project PROJ=$HOME/UCB_Project \ PY=$HOME/miniconda3/envs/env_isaaclab/bin/python \ OUT=Baseline1/data/episodes_b3_v4_15obj_3yaw_2026-05-25 \ RESULTS=/tmp/v4_full15_results_2026-05-25.txt \ PAR=2 \ bash scripts/baseline_3_v4/v4_full15_queue_resume.sh ``` For PAR tuning, gotcha list, troubleshooting, and per-object expected yield, see the original 10-gotcha table that previously appeared here — the canonical version is now in the repo's `Baseline1/RETRAIN_V4_FULL12.md` and the inline comments in `scripts/baseline_3_v4/v4_*.sh`.
--- ## License & citation Sim collection assets: CC-BY-4.0. DexYCB source data subject to the original DexYCB license. YCB object meshes: Yale-CMU-Berkeley YCB Object & Model Set license.