From a170313fac7a233c2f2328d5d24a359edebf88ec Mon Sep 17 00:00:00 2001 From: Rahul Tomar Date: Fri, 6 Nov 2026 10:07:47 +0100 Subject: [PATCH 1/2] Autopilot: approach aims at the next pass's strip; 3371b1c's tear rule and early set-aside reverted The pass count goes up only once the approach is reached, so 'swing back' and the approach were planned with the previous pass's strip: the house swung toward the new strip, back to the old one, then across again while penetrating, overshooting into the pit wall. That was the failing clay strip at +20 deg. _lane_pass() now aims both at the next pass's strip. Clay and loam dump about 11 % more per pass (25-pass runs, 3 each); clay over 1500 s loads 52-58 t instead of 43.5 t. The curl-tear rule lowered clay and loam per-pass mass, and setting poor strips aside early made no measurable difference, so both are reverted (A/B in RESULTS.md). Co-Authored-By: Claude Opus 5.5 --- phase2/RESULTS.md | 46 ++++--- phase2/bench_haul.py | 1 - phase2/excavator_server.py | 77 +++++------- ...ul_bench_lane_fix_long2_clay_1carrier.json | 1 + ...ench_lane_fix_long2_dry-sand_1carrier.json | 1 + ...ul_bench_lane_fix_long2_loam_1carrier.json | 1 + ...aul_bench_lane_fix_long_clay_1carrier.json | 117 ++++++++++++++++++ ...bench_lane_fix_long_dry-sand_1carrier.json | 115 +++++++++++++++++ ...aul_bench_lane_fix_long_loam_1carrier.json | 117 ++++++++++++++++++ ...ench_lane_old_long2_dry-sand_1carrier.json | 1 + ...ul_bench_lane_old_long2_loam_1carrier.json | 1 + ...ch_lane_restearly_long1_clay_1carrier.json | 1 + ...ch_lane_restearly_long2_clay_1carrier.json | 1 + .../logs/haul_quick25_lane_base_clay_1.json | 1 + .../logs/haul_quick25_lane_base_clay_2.json | 1 + .../logs/haul_quick25_lane_base_clay_3.json | 1 + .../haul_quick25_lane_base_dry-sand_1.json | 1 + .../haul_quick25_lane_base_dry-sand_2.json | 1 + .../haul_quick25_lane_base_dry-sand_3.json | 1 + .../logs/haul_quick25_lane_base_loam_1.json | 1 + .../logs/haul_quick25_lane_base_loam_2.json | 1 + .../logs/haul_quick25_lane_base_loam_3.json | 1 + phase2/logs/haul_quick25_lane_fix_clay_1.json | 1 + phase2/logs/haul_quick25_lane_fix_clay_2.json | 1 + phase2/logs/haul_quick25_lane_fix_clay_3.json | 1 + .../haul_quick25_lane_fix_dry-sand_1.json | 1 + .../haul_quick25_lane_fix_dry-sand_2.json | 1 + .../haul_quick25_lane_fix_dry-sand_3.json | 1 + phase2/logs/haul_quick25_lane_fix_loam_1.json | 1 + phase2/logs/haul_quick25_lane_fix_loam_2.json | 1 + phase2/logs/haul_quick25_lane_fix_loam_3.json | 1 + .../logs/haul_quick25_lane_rest_clay_1.json | 1 + .../logs/haul_quick25_lane_rest_clay_2.json | 1 + .../logs/haul_quick25_lane_rest_clay_3.json | 1 + .../logs/haul_quick25_lane_rest_loam_1.json | 1 + .../logs/haul_quick25_lane_rest_loam_2.json | 1 + .../logs/haul_quick25_lane_rest_loam_3.json | 1 + 37 files changed, 440 insertions(+), 64 deletions(-) create mode 100644 phase2/logs/haul_bench_lane_fix_long2_clay_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_fix_long2_dry-sand_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_fix_long2_loam_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_old_long2_dry-sand_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_old_long2_loam_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_restearly_long1_clay_1carrier.json create mode 100644 phase2/logs/haul_bench_lane_restearly_long2_clay_1carrier.json create mode 100644 phase2/logs/haul_quick25_lane_base_clay_1.json create mode 100644 phase2/logs/haul_quick25_lane_base_clay_2.json create mode 100644 phase2/logs/haul_quick25_lane_base_clay_3.json create mode 100644 phase2/logs/haul_quick25_lane_base_dry-sand_1.json create mode 100644 phase2/logs/haul_quick25_lane_base_dry-sand_2.json create mode 100644 phase2/logs/haul_quick25_lane_base_dry-sand_3.json create mode 100644 phase2/logs/haul_quick25_lane_base_loam_1.json create mode 100644 phase2/logs/haul_quick25_lane_base_loam_2.json create mode 100644 phase2/logs/haul_quick25_lane_base_loam_3.json create mode 100644 phase2/logs/haul_quick25_lane_fix_clay_1.json create mode 100644 phase2/logs/haul_quick25_lane_fix_clay_2.json create mode 100644 phase2/logs/haul_quick25_lane_fix_clay_3.json create mode 100644 phase2/logs/haul_quick25_lane_fix_dry-sand_1.json create mode 100644 phase2/logs/haul_quick25_lane_fix_dry-sand_2.json create mode 100644 phase2/logs/haul_quick25_lane_fix_dry-sand_3.json create mode 100644 phase2/logs/haul_quick25_lane_fix_loam_1.json create mode 100644 phase2/logs/haul_quick25_lane_fix_loam_2.json create mode 100644 phase2/logs/haul_quick25_lane_fix_loam_3.json create mode 100644 phase2/logs/haul_quick25_lane_rest_clay_1.json create mode 100644 phase2/logs/haul_quick25_lane_rest_clay_2.json create mode 100644 phase2/logs/haul_quick25_lane_rest_clay_3.json create mode 100644 phase2/logs/haul_quick25_lane_rest_loam_1.json create mode 100644 phase2/logs/haul_quick25_lane_rest_loam_2.json create mode 100644 phase2/logs/haul_quick25_lane_rest_loam_3.json diff --git a/phase2/RESULTS.md b/phase2/RESULTS.md index 04906e3..a97b974 100644 --- a/phase2/RESULTS.md +++ b/phase2/RESULTS.md @@ -1483,32 +1483,46 @@ Haul logs: `logs/haul_bench_fill_long__1carrier.json` (before) and `logs/h - **Clay passes come up light:** 0.81 t against the handbooks' 0.92–1.04 t and 0.93 t before. Loam moved from 5 % over its range to inside it (1.0–1.4 t). - **Clay and the face planner.** With the new hydraulics and the old planner, clay fell to 0.71 t a pass and one load took 25 passes. Per-pass traces showed no steady difference in what the bucket held at the start of the swing. The planner kept choosing one strip whose cut took slabs the bucket lost on the way out, at about 0.43 t a pass for some 30 passes. It brought back more than 30 % of a bucket at the start of the swing, so the planner never set it aside. Now, in clay, a pass that carries less than half a bucket to the carrier also sets its strip aside (`POOR_CARRIED`), and in every soil, strips set aside are taken again only when no other strip has a cut worth taking. That brought clay to 0.81 t and the longest load to 16 passes. The half-bucket rule hurt dry sand (1.11 t a pass): what spills on the swing there is no sign of a poor strip, so it applies to clay only. The remaining gap in clay is open. -**Autopilot changes after the bucket calibration.** Two changes for clay, which loaded less with the new hydraulics: - -- **The curl gain isn't learned from a slab tear.** The operator learns how much the curl adds and curls that much short of a full bucket. In one 1500 s clay run, one curl lost 842 of 882 kg, and that single sample pulled the learned gain down. It ended at 18 kg, against 357 kg on the old hydraulics. So the bucket was curled only once overfull, and that tore out more slabs (11 against 6). A curl losing more than a quarter of the load (`CURL_TEAR`) is now counted (`curl_tears`) and not learned from. In that run the gain then stayed at 410–430 kg, and clay went from 0.81 to 0.85 t a pass. -- **A poor strip is set aside at the carrier** (`_rest_if_poor`), not at the next approach. The next pass's strip is planned as the bucket swings back, so a poor strip used to be dug once more before its rest began. A log of the planner over 40 clay passes shows each poor strip set aside at once, and none taken again as a fallback. +**The approach aimed at the previous strip.** Most thin clay passes came from the strip 20° left: the planner expected 0.8–1.2 m³ there, but its first pass brought out 3–59 kg, with three stages timed out. Neither the cut depth nor the drag was the cause. The pass count goes up only when the approach is reached, so the segment into the approach was planned with the previous pass's strip. The house swung back toward the new strip, turned to the old one for the approach, and then swung across to the new one again while penetrating. From −10° to +20° that is 37° of swing during the cut. The calibrated swing brakes at 0.82 rad/s², so it overshot to +27°, and the bucket stuck on the pit wall. A second pass in the same strip had no swing to make, which is why that strip dug well when chosen again. 'Swing back' and the approach now both aim for the next pass's strip (`_lane_pass`). The traced pass now carries 1.06 t with no stage skipped, and every pass that changes strip skips the detour. `bench_haul.py` now logs every pass (`pass_log`: strip, most held while digging, at the swing, carried, left after the dump) and stops after `PASSES=N` passes for a quick check. -25-pass check against `main` (one run each, about 600 s; kg per pass, since t/h over 25 passes depends on where each run stops in a load): +**Two other changes, tried and reverted.** Two other changes were tried for clay: + +- **The tear rule.** A curl that lost more than a quarter of the load would not be learned from (`CURL_TEAR`). One curl losing 842 of 882 kg had pulled the learned curl gain down to 18 kg. +- **Setting a poor strip aside at the carrier** (`_rest_if_poor`) instead of at the next approach. + +Both were tested with the approach fix in place: 3 runs of 25 passes per variant. The figures are mean kg dumped per pass, with each run in brackets: -| | Carried to the carrier | Dumped | Thin passes (under half a bucket at the swing) | +| | Neither change | Both changes | Set-aside change only | |---|---|---|---| -| Dry sand: main / with the changes | 1336 / 1332 kg | 1331 / 1329 kg | 1 / 1 | -| Loam | 1220 / 1010 kg | 1116 / **906** kg | 3 / 6 | -| Clay | 1180 / 1107 kg | 1025 / 973 kg | 2 / 3 | +| Clay | **1041** (1071, 1085, 968) | 940 (1009, 844, 967) | 985 (1037, 969, 949) | +| Loam | 1165 (1186, 1142, 1166) | 1093 (1103, 1112, 1063) | **1188** (1166, 1227, 1172) | +| Dry sand | 1326 (1331, 1323, 1325) | 1331 (1338, 1313, 1342) | n/a: neither change acts in sand | + +- **The tear rule lowered both cohesive soils:** clay 5 % and loam 8 % below the set-aside change alone. So limiting it to clay would not help either. +- **The learned gain no longer collapses:** it ended at 136–273 kg in the 9 clay runs. +- **The set-aside change made no difference** in 25 passes, nor over 1500 s of clay. That is where the deep pit gives repeated thin passes from one strip: 55.5 and 53.0 t loaded with the change, against 52.3 and 58.4 t without it. + +Both are reverted. + +**The approach fix alone**, against the same autopilot without it: -The check doesn't show the changes helping: +- **25 passes:** clay and loam dump about 11 % more per pass (clay 935 → 1041 kg, mean of 4 old runs; loam 1047 → 1165 kg, 3 old runs), and passes are 1.5–2 s shorter. +- **1500 s, clay (one carrier):** 43.5 → 52.3 and 58.4 t loaded, 0.65 → 0.73 and 0.85 t per pass (`loaded_t` over all passes), 104 → 125 and 140 t/h loaded. Stages skipped fell from 13 to 3 and 8. +- **1500 s, dry sand:** no change beyond the spread: 70.0 and 62.2 t loaded before, 61.3 and 70.3 t after. +- **1500 s, loam:** no change beyond the spread either: 69.2 and 70.0 t before, 63.8 and 69.4 t after. Every loam run dug out all the soil within reach before 1500 s. +- **Other benches:** the trench (passes 1–6: 15.6–18.2 s) and the 130 s zone cycle (7 passes, 10.4 t) don't change strip between passes. `test_env.py` passes. -- **Loam** dumped 19 % less with them. Two of its curls counted as tears, and its learned gain fell to −69 kg. -- **Clay** dumped 5 % less, which is within the run-to-run spread. -- **The collapse they guard against hadn't happened yet** on `main`: clay's learned gain was still 60 kg after 25 passes. +**Still open:** -Whether the tear rule suits loam, and whether either change helps over a long shift, needs several runs per soil. +- **Clay still has thin passes once the pit is deep:** 17–26 of about 70 passes in the 1500 s runs. These passes barely fill while digging (160–600 kg at most), unlike the early failures, which filled and then lost the load. Half of them are in the strip 20° left. +- **Dry sand stalls when a load is full.** When the last pass fills the carrier, the house sometimes stays over it, and the next 6 stages time out, losing about 30 s. This happened once to four times per 1500 s, with or without the fix, and sets most of dry sand's run-to-run spread. -**Open: the clay strip 20° left.** The planner expects 0.8–1.2 m³ in that strip, but its passes bring out 3–59 kg. When its rest ends it is chosen again, and it fails again. Most thin clay passes come from it. +Logs: -Logs: `logs/haul_quick25___1carrier.json`. +- 25-pass runs: `logs/haul_quick25_lane___.json`; the earlier checks are `logs/haul_quick25___1carrier.json`. +- 1500 s runs: `logs/haul_bench_lane_fix_long[2]__1carrier.json`, `logs/haul_bench_lane_old_long2__1carrier.json` and `logs/haul_bench_lane_restearly_long_clay_1carrier.json`. **Limits:** - Every value is for 1800 min⁻¹ in eco mode. At full power the pumps deliver more: the spec swing speed is 19 % higher. diff --git a/phase2/bench_haul.py b/phase2/bench_haul.py index 6a65ee3..e9fe830 100644 --- a/phase2/bench_haul.py +++ b/phase2/bench_haul.py @@ -117,7 +117,6 @@ "pit_done": sim.pit_done, "faces": [(f["psi"], f["shift"]) for f in sim.face_log], "curl_gain_kg": round(sim.curl_gain), - "curl_tears": sim.curl_tears, "mean_carried_kg": round(float(np.mean([x["carried_kg"] for x in done]))) if done else None, "mean_dumped_kg": round(float(np.mean([x["carried_kg"] - x["left_kg"] for x in done]))) if done else None, "thin_passes": sum(1 for x in done if x["at_swing_kg"] < 0.5 * sim.full_kg), diff --git a/phase2/excavator_server.py b/phase2/excavator_server.py index 472326d..76c2e43 100644 --- a/phase2/excavator_server.py +++ b/phase2/excavator_server.py @@ -811,7 +811,7 @@ def reset(self): self.auto_s = 0.0 self.passes = 0 self.skipped = [] - self.ease, self.seg_from, self.auto_frame, self.auto_fill, self.early_curls, self.curl_tears = 0.0, None, 0, 0.0, 0, 0 + self.ease, self.seg_from, self.auto_frame, self.auto_fill, self.early_curls = 0.0, None, 0, 0.0, 0 self.curl_out = None # curl waypoint replaced for this pass (lifting out of a full cohesive cut) self.curl_gain = self.CURL_GAIN_GUESS * self.payload_kg if self.heap_check else 0.0 self.curl_from = None # load when this pass's early curl began @@ -947,23 +947,6 @@ def _face(self, p): self._faces[p] = self._plan_face(p) return self._faces[p] - def _rest_if_poor(self): - """Over the carrier: if little came out of this pass's strip, set it aside. Now, not at the next - approach: the next pass's strip is planned as the bucket swings back, so a strip judged later was - dug once more before the rest took hold (a clay strip losing its soil in the drag gave three thin - passes in a row).""" - face = self._faces.get(self.passes) if self.adaptive_face else None - carried = self.POOR_CARRIED.get(self.soil) - if face is None or (self.pass_fill >= self.POOR_PASS * self.full_kg - and (carried is None or self.pass_carried >= carried * self.full_kg)): - return - self.face_rest[(face["psi"], face["shift"])] = self.passes + self.POOR_REST - for f in self.face_log[-2:]: - if f["pass"] == self.passes: - f["poor_kg"] = round(self.pass_fill) - if self._faces.pop(self.passes + 1, None) is not None: - self.face_log = [f for f in self.face_log if f["pass"] != self.passes + 1] # planned already: again - def _plan_face(self, p): z = self.zones has = self._pit_cols & (z.count_np > 0) @@ -1001,14 +984,19 @@ def _plan_face(self, p): return best def _stage_r(self, wp_, start=False): - """Waypoint reach (m): dig-side stages shift with the current pass's cut, 'swing back' heads for the - next pass's (as _stage_psi).""" - if self.adaptive_face and wp_[0] in self.LANE_STAGES: - return wp_[2] + self._face(self.passes)["shift"] - if self.adaptive_face and wp_[0] == "swing back": - return wp_[2] + self._face(self.passes + (0 if start else 1))["shift"] + """Waypoint reach (m): dig-side stages shift with the current pass's cut, 'swing back' and the approach + head for the next pass's (as _stage_psi).""" + if self.adaptive_face and (wp_[0] in self.LANE_STAGES or wp_[0] == "swing back"): + return wp_[2] + self._face(self._lane_pass(wp_, start))["shift"] return wp_[2] + def _lane_pass(self, wp_, start): + """The pass whose lane a waypoint is in. The count goes up as the approach is reached, so until then + 'swing back' and the approach belong to the next pass: aimed at the current one, the house swung back + toward the new strip, then to the last one for the approach, then across to the new one again while + penetrating (37 deg from -10 to +20 deg: it overshot to +27 deg and the bucket stuck on the pit wall).""" + return self.passes + (1 if wp_[0] == "swing back" or (wp_[0] == "approach" and not start) else 0) + def set_trench(self, deepen=0.25): """Auto cycle digs a single lane and goes deeper every pass (a trench), down to the floor.""" self.adaptive_face = False @@ -1017,18 +1005,14 @@ def set_trench(self, deepen=0.25): self._z_cache = {} def _stage_psi(self, wp_, start=False): - """Waypoint swing angle (deg): dig-side stages shift to the current pass's lane; the final - 'swing back' stage already heads for the next pass's lane. As the start of the next segment (after - the pass count went up) 'swing back' is in the current lane.""" - if self.adaptive_face and wp_[0] in self.LANE_STAGES: - return wp_[1] + self._face(self.passes)["psi"] - if self.adaptive_face and wp_[0] == "swing back": - return wp_[1] + self._face(self.passes + (0 if start else 1))["psi"] - if wp_[0] in self.LANE_STAGES: - return wp_[1] + self.LANES[self.passes % len(self.LANES)] - if wp_[0] == "swing back": - return wp_[1] + self.LANES[(self.passes + (0 if start else 1)) % len(self.LANES)] - return wp_[1] + """Waypoint swing angle (deg): dig-side stages shift to the current pass's lane; 'swing back' and the + approach into the next pass already head for the next pass's lane (_lane_pass).""" + if wp_[0] not in self.LANE_STAGES and wp_[0] != "swing back": + return wp_[1] + p = self._lane_pass(wp_, start) + if self.adaptive_face: + return wp_[1] + self._face(p)["psi"] + return wp_[1] + self.LANES[p % len(self.LANES)] def _waypoint_q(self, wp_, start=False): r, phi = self._stage_r(wp_, start), wp_[4] @@ -1154,7 +1138,6 @@ def _swing_lever(self, target, allow=None): return lever CURL_GAIN_GUESS = 0.3 # of the payload a cohesive load gains (< 0: loses) curling out, until measured - CURL_TEAR = 0.25 # a curl losing more than this fraction of the load tore out a slab: not learned from SHAKE_IF = 0.25 # fraction of a full bucket still in it after the dump that makes the operator shake it out SHAKE_S, SHAKE_PERIOD = 2.5, 0.32 # most time spent shaking; one rap: dump to the stop, then a short curl back @@ -1322,21 +1305,14 @@ def allow(direction): return if timed_out or (self.auto_s >= 1.0 and np.max(np.abs(q_end - self.q)) < tol): if b[0] == "curl" and self.curl_from is not None: - # learn how much the curl adds (< 0: the heap fell off), to curl that much short next time. Not - # from a curl that tore out a slab: one losing most of a clay load set the gain so low that the - # bucket was curled only once overfull, which tore out more slabs - gain = self._bucket_fill() - self.curl_from - if gain > -self.CURL_TEAR * self.curl_from: - self.curl_gain += 0.5 * (gain - self.curl_gain) - else: - self.curl_tears += 1 + # learn how much the curl adds (< 0: the heap fell off), to curl that much short next time + self.curl_gain += 0.5 * (self._bucket_fill() - self.curl_from - self.curl_gain) if b[0] == "dump" and self._bucket_fill() > self.SHAKE_IF * self.full_kg: self.shaking = 0.0 # sticky load still in the bucket: shake it out before swinging back self.shakes += 1 return if b[0] == "swing to truck": self.pass_carried = self._bucket_fill() # what this pass brings to the carrier - self._rest_if_poor() if b[0] == "dump": self._after_dump() self.auto_stage = (self.auto_stage + 1) % n @@ -1345,6 +1321,14 @@ def allow(direction): self.seg_from = None self.low_prev, self.low_rate = None, 0.0 if self.auto_stage == 0: + face = self._faces.get(self.passes) if self.adaptive_face else None + carried = self.POOR_CARRIED.get(self.soil) + if face is not None and (self.pass_fill < self.POOR_PASS * self.full_kg + or carried is not None and self.pass_carried < carried * self.full_kg): + self.face_rest[(face["psi"], face["shift"])] = self.passes + self.POOR_REST # little came out of it + for f in self.face_log[-2:]: + if f["pass"] == self.passes: + f["poor_kg"] = round(self.pass_fill) self.pass_fill, self.pass_carried = 0.0, 0.0 self.passes += 1 self.ease = 0.0 @@ -1872,7 +1856,6 @@ def stats(self): "active": self.zones.n_active, "ease_m": round(self.ease, 2), "early_curls": self.early_curls, - "curl_tears": self.curl_tears, "payload_kg": round(self.payload_kg), "curl_gain_kg": round(self.curl_gain), "zone": dict(self.zones.counters), diff --git a/phase2/logs/haul_bench_lane_fix_long2_clay_1carrier.json b/phase2/logs/haul_bench_lane_fix_long2_clay_1carrier.json new file mode 100644 index 0000000..60f0d1b --- /dev/null +++ b/phase2/logs/haul_bench_lane_fix_long2_clay_1carrier.json @@ -0,0 +1 @@ +{"soil": "clay", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.978, "loads": [{"carrier": 0, "departed_s": 192.3, "load_kg": 10638, "loading_s": 192.3, "passes": 10}, {"carrier": 0, "departed_s": 446.0, "load_kg": 11313, "loading_s": 195.7, "passes": 11}, {"carrier": 0, "departed_s": 689.2, "load_kg": 10728, "loading_s": 184.6, "passes": 10}, {"carrier": 0, "departed_s": 988.9, "load_kg": 11409, "loading_s": 240.9, "passes": 12}, {"carrier": 0, "departed_s": 1306.9, "load_kg": 10141, "loading_s": 258.2, "passes": 14}], "trips": [{"depart_t": 192.28, "stages": {"loading": 192.28, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.83, "lower": 5.0, "return": 4.78, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 145, "away_s": 58.07}, {"depart_t": 446.02, "stages": {"loading": 195.67, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.6, "lower": 5.0, "return": 4.58, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 272, "away_s": 58.63}, {"depart_t": 689.23, "stages": {"loading": 184.58, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.88, "lower": 5.0, "return": 4.5, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 268, "away_s": 58.84}, {"depart_t": 988.93, "stages": {"loading": 240.87, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 7.18, "lower": 5.0, "return": 4.12, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 215, "away_s": 59.75}, {"depart_t": 1306.93, "stages": {"loading": 258.25, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.68, "lower": 5.0, "return": 4.55, "turn to load": 7.22, "reverse in": 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b/phase2/logs/haul_bench_lane_fix_long2_dry-sand_1carrier.json @@ -0,0 +1 @@ +{"soil": "dry-sand", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.908, "loads": [{"carrier": 0, "departed_s": 127.0, "load_kg": 10661, "loading_s": 127.0, "passes": 7}, {"carrier": 0, "departed_s": 335.8, "load_kg": 8700, "loading_s": 152.1, "passes": 7}, {"carrier": 0, "departed_s": 500.1, "load_kg": 10607, "loading_s": 107.5, "passes": 6}, {"carrier": 0, "departed_s": 650.9, "load_kg": 9611, "loading_s": 94.1, "passes": 5}, {"carrier": 0, "departed_s": 820.3, "load_kg": 10011, "loading_s": 112.0, "passes": 6}, {"carrier": 0, "departed_s": 1047.2, "load_kg": 10699, "loading_s": 169.3, "passes": 9}], "trips": [{"depart_t": 126.98, "stages": {"loading": 126.98, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.03, "lower": 5.0, "return": 5.23, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 137, "away_s": 56.72}, 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0}, {"pass": 56, "t": 1259.4, "face": [10.0, 0.0, 0.32], "dig_max_kg": 732, "early_curl": false, "skips": 0, "at_swing_kg": 732, "carried_kg": 912, "left_kg": 23}, {"pass": 57, "t": 1278.2, "face": [20.0, 0.0, 0.42], "dig_max_kg": 728, "early_curl": false, "skips": 0, "at_swing_kg": 654, "carried_kg": 748, "left_kg": 52}], "dozer": {"passes": 30, "push_m": 182.43, "work_MJ": 2.19, "load_lifts": 36, "lifts_raised": 2, "parked_s": 849.02, "working_s": 651.0, "peak_kN": 90.58, "slip_s": 1.67, "futile_passes": 11, "mean_push_kN": [23.9, 13.6, 20.4, 9.5, 20.1, 4.8, 24.7, 19.6, 4.9, 16.3, 14.0, 7.6, 4.9, 21.3, 0.4, 14.7, 8.0, 1.1, 1.9, 3.1, 2.7, 0.4, 0.6, 7.6, 6.1, 17.9, 3.6, 4.1, 1.5, 1.3]}, "spread": {"design_z_above_ground": 0.9, "area_m2": 61.2, "covered_m2": 53.5, "rms_from_grade_m": 0.387, "max_above_grade_m": 1.04, "at_grade_fraction": 0.34, "unspread_m3": 2.69}} diff --git a/phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json b/phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json new file mode 100644 index 0000000..bd24601 --- /dev/null +++ b/phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json @@ -0,0 +1,117 @@ +Warp 1.19.0 initialized: + CUDA Toolkit 13.4, Driver 13.0 + Devices: + "cpu" : "aarch64" + "cuda:0" : "NVIDIA GB10" (122 GiB, sm_121, mempool enabled) + Kernel cache: + /home/dttai1/.cache/warp/1.19.0 +Module validate_and_correct_inertia_kernel_0dd217c5 0dd217c load on device 'cuda:0' took 0.72 ms (cached) +Module newton._src.geometry.bvh c108a72 load on device 'cuda:0' took 0.49 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_model 3bb21b4 load on device 'cuda:0' took 0.49 ms (cached) +Module warp.fem.geometry.nanogrid 8a477eb load on device 'cuda:0' took 0.53 ms (cached) +Module warp._src.fem.quadrature.pic_quadrature.dyn.bin_particles_72b36c27 1274abb load on device 'cuda:0' took 0.58 ms (cached) +Module warp.fem.utils 5050414 load on device 'cuda:0' took 0.51 ms (cached) +Module warp._src.fem.quadrature.pic_quadrature.dyn.finalize_cell_particle_data_6a72a038 588425d load on device 'cuda:0' took 0.47 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_60813d26 264deb8 load on device 'cuda:0' took 0.43 ms (cached) +Module warp.fem.space.restriction 13859e3 load on device 'cuda:0' took 0.29 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_9775d3a0 c659439 load on device 'cuda:0' took 0.35 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_8688d243 72a45d0 load on device 'cuda:0' took 0.29 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.dyn.cell_color_e837866a 03aea13 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels 309f94e load on device 'cuda:0' took 0.41 ms (cached) +Module warp._src.coloring 5014867 load on device 'cpu' took 0.87 ms (cached) +Module newton._src.solvers.mujoco.kernels 8cde23f load on device 'cuda:0' took 2.79 ms (cached) +Module mujoco_warp._src.set_const e7f6e53 load on device 'cuda:0' took 0.63 ms (cached) +Module mujoco_warp._src.smooth 6ec87e9 load on device 'cuda:0' took 1.38 ms (cached) +Module _small_cholesky_factorize_block__locals__kernel_688128d2 3a1ff3a load on device 'cuda:0' took 0.31 ms (cached) +Module _small_cholesky_factorize_block__locals__kernel_76d25309 797032f load on device 'cuda:0' took 0.28 ms (cached) +Module _small_cholesky_solve_block__locals__kernel_1e3f1516 c492a5b load on device 'cuda:0' took 0.28 ms (cached) +Module _small_cholesky_solve_block__locals__kernel_b7425cff b9bad6a load on device 'cuda:0' took 0.26 ms (cached) +Module create_eval_articulation_fk_tile__locals__eval_articulation_fk_tile_b12ad9e5 33f5a01 load on device 'cuda:0' took 0.51 ms (cached) +Module soil_zone 8795928 load on device 'cuda:0' took 0.73 ms (cached) +Module map_mul 4da365f load on device 'cuda:0' took 0.29 ms (cached) +Module soil_server d8198c9 load on device 'cuda:0' took 0.46 ms (cached) +Module excavator_server b3143cf load on device 'cuda:0' took 0.40 ms (cached) +Module newton._src.sim.collide f8ad45d load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.geometry.broad_phase_nxn 92014d2 load on device 'cuda:0' took 0.30 ms (cached) +Module narrow_phase_primitive_write_contact_False_False_False 3cf6427 load on device 'cuda:0' took 0.32 ms (cached) +Module narrow_phase_gjk_mpr_True_False_write_contact_support_map_lean_post_process_minkowski_only 7d090a1 load on device 'cuda:0' took 0.41 ms (cached) +Module newton._src.geometry.narrow_phase dde4959 load on device 'cuda:0' took 0.42 ms (cached) +Module mujoco_warp._src.constraint 9feb269 load on device 'cuda:0' took 0.29 ms (cached) +Module _friction_dof__locals__kernel_de3fc701 de3fc70 load on device 'cuda:0' took 0.55 ms (cached) +Module _limit_slide_hinge__locals__kernel_0914a21e 0914a21 load on device 'cuda:0' took 0.31 ms (cached) +Module _efc_contact_init__locals__kernel_2fbed541 2fbed54 load on device 'cuda:0' took 0.29 ms (cached) +Module _efc_contact_jac_dense__locals__kernel_1686fae4 bea9b8b load on device 'cuda:0' took 0.35 ms (cached) +Module _efc_contact_update__locals__kernel_a67f25cf a67f25c load on device 'cuda:0' took 0.29 ms (cached) +Module mujoco_warp._src.passive a2eea36 load on device 'cuda:0' took 0.42 ms (cached) +Module _qfrc_passive_kernel__locals__kernel_887f05a4 887f05a load on device 'cuda:0' took 0.28 ms (cached) +Module _qfrc_smooth__locals__kernel_5d93552d 5d93552 load on device 'cuda:0' took 0.27 ms (cached) +Module mujoco_warp._src.support 462b66b load on device 'cuda:0' took 0.26 ms (cached) +Module _small_cholesky_factorize_solve_block__locals__kernel_32267892 9d7a2a3 load on device 'cuda:0' took 0.29 ms (cached) +Module _small_cholesky_factorize_solve_block__locals__kernel_bbb3b6d0 7e9304f load on device 'cuda:0' took 0.28 ms (cached) +Module _solve_init_dof__locals__kernel_08db194e 08db194 load on device 'cuda:0' took 0.35 ms (cached) +Module mujoco_warp._src.solver ab57257 load on device 'cuda:0' took 0.37 ms (cached) +Module _solve_init_jaref_kernel__locals__kernel_7c525cac 7c525ca load on device 'cuda:0' took 0.28 ms (cached) +Module mul_m_kernel__locals___mul_m_2eb0ef19 2eb0ef1 load on device 'cuda:0' took 0.26 ms (cached) +Module _update_constraint_efc__locals__kernel_01e3395a 01e3395 load on device 'cuda:0' took 0.27 ms (cached) +Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_1f63a94a 1f63a94 load on device 'cuda:0' took 0.29 ms (cached) +Module _update_gradient_zero_grad_dot__locals__kernel_eeeb13da eeeb13d load on device 'cuda:0' took 0.27 ms (cached) +Module _update_gradient_grad__locals__kernel_9654ebd0 9654ebd load on device 'cuda:0' took 0.26 ms (cached) +Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_42d95046 a1e3b32 load on device 'cuda:0' took 0.49 ms (cached) +Module _update_gradient_cholesky__locals__kernel_4248b06c d4ff837 load on device 'cuda:0' took 26.18 ms (cached) +Module _linesearch_iterative_kernel__locals__kernel_9e726ceb fad442d load on device 'cuda:0' took 0.55 ms (cached) +Module _update_constraint_efc__locals__kernel_81674199 8167419 load on device 'cuda:0' took 0.31 ms (cached) +Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_8e350d39 8e350d3 load on device 'cuda:0' took 0.29 ms (cached) +Module _update_gradient_zero_grad_dot__locals__kernel_ba7e8e2f ba7e8e2 load on device 'cuda:0' took 0.27 ms (cached) +Module _update_gradient_grad__locals__kernel_4f2bb7a9 4f2bb7a load on device 'cuda:0' took 0.26 ms (cached) +Module _update_gradient_cholesky__locals__kernel_4c171783 4827da2 load on device 'cuda:0' took 26.16 ms (cached) +Module _solve_done__locals__kernel_8d3e2217 8d3e221 load on device 'cuda:0' took 0.46 ms (cached) +Module mujoco_warp._src.derivative 380fbcc load on device 'cuda:0' took 0.54 ms (cached) +Module mujoco_warp._src.forward 9883e25 load on device 'cuda:0' took 0.39 ms (cached) +Module _next_time_builder__locals___next_time_1cb22d2e 1cb22d2 load on device 'cuda:0' took 0.51 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_2fb7f2f1 60674ca load on device 'cuda:0' took 0.49 ms (cached) +Module newton._src.solvers.implicit_mpm.rasterized_collisions.world_position_33f2b610 f78fcaa load on device 'cuda:0' took 0.36 ms (cached) +Module newton._src.solvers.implicit_mpm.rasterized_collisions 6d32b59 load on device 'cuda:0' took 0.39 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.collision_weight_field_8c7a1ed7 c6a78c2 load on device 'cuda:0' took 0.36 ms (cached) +Module _bsr_accumulate_triplet_values_89c51218 7baeb9a load on device 'cuda:0' took 0.31 ms (cached) +Module warp._src.fem.quadrature.quadrature.dyn.quadrature_point_element_indices_d52fa04e ff44114 load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_e081b3ef ccc78d5 load on device 'cuda:0' took 0.34 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_c147b205 39f0a31 load on device 'cuda:0' took 0.35 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_apic_9dd4ac18 813b0f2 load on device 'cuda:0' took 0.35 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_mass_5fda8e19 ac3dcd8 load on device 'cuda:0' took 0.35 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_fea4d8fd 16d7ac5 load on device 'cuda:0' took 0.35 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_yield_parameters_6dcf6251 7dc048e load on device 'cuda:0' took 0.42 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_88c9ef37 0303b67 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_active_fraction_a5404331 06e1637 load on device 'cuda:0' took 0.37 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_99ecc7cf a3c8b39 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_7c94db4e 0446aed load on device 'cuda:0' took 0.36 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_a649643f 454191e load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_collider_fraction_a5258c95 ac7d7fc load on device 'cuda:0' took 0.36 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_bdb78fbc 7f792ef load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.strain_delta_form_622b62c3 f655226 load on device 'cuda:0' took 0.33 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_6d221857 31482f3 load on device 'cuda:0' took 0.36 ms (cached) +Module warp.fem.integrate._identity_field_b5aa3f34 0ab4782 load on device 'cuda:0' took 0.44 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_particle_stress_d3464583 ca2f662 load on device 'cuda:0' took 0.35 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_b79d8313 7d87f73 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.mass_form_bd277bc5 45a767e load on device 'cuda:0' took 0.36 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_f6d3cfb2 ad2be72 load on device 'cuda:0' took 0.35 ms (cached) +Module warp.sparse 52bbb2e load on device 'cuda:0' took 0.54 ms (cached) +Module _bsr_assign_copy_blocks_25808539 9673674 load on device 'cuda:0' took 0.31 ms (cached) +Module compute_eigenvalues_70d01c86 29a61fe load on device 'cuda:0' took 0.30 ms (cached) +Module inverse_scale_vector_e40af5d0 f052608 load on device 'cuda:0' took 0.30 ms (cached) +Module newton._src.solvers.implicit_mpm.contact_solver_kernels f1493cd load on device 'cuda:0' took 0.44 ms (cached) +Module _bsr_transpose_values_1d188087 aa92b67 load on device 'cuda:0' took 0.46 ms (cached) +Module make_bsr_mv_tiled_kernel__locals__bsr_mv_tiled_kernel_17fd668b 3f91fc9 load on device 'cuda:0' took 0.36 ms (cached) +Module make_bsr_mv_kernel__locals__bsr_mv_kernel_37b51eee bf7159b load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels 42c788a load on device 'cuda:0' took 0.82 ms (cached) +Module newton._src.solvers.implicit_mpm.solve_rheology 65415ca load on device 'cuda:0' took 0.45 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels c7bb17e load on device 'cuda:0' took 0.62 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels.dyn.gs_solve_kernel_impl_ba42a0de 8d2ccee load on device 'cuda:0' took 0.35 ms (cached) +Module newton._src.solvers.implicit_mpm.solve_rheology 92bb71d load on device 'cuda:0' took 0.53 ms (cached) +Module warp.fem.space.partition 4c5b150 load on device 'cuda:0' took 0.36 ms (cached) +Module scatter_field_dof_values_ec638f93 bde0ade load on device 'cuda:0' took 0.34 ms (cached) +Module warp.fem.integrate._identity_field_15c95b83 0df86d1 load on device 'cuda:0' took 0.36 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.update_particle_strains_40d97e08 13b8e25 load on device 'cuda:0' took 0.39 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.advect_particles_2f248551 bfedeec load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_380959cb bb9f71e load on device 'cuda:0' took 0.51 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_ec304b85 25a078a load on device 'cuda:0' took 0.36 ms (cached) +{"soil": "clay", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.951, "loads": [{"carrier": 0, "departed_s": 134.8, "load_kg": 9622, "loading_s": 134.8, "passes": 7}, {"carrier": 0, "departed_s": 381.7, "load_kg": 11136, "loading_s": 188.8, "passes": 10}, {"carrier": 0, "departed_s": 721.5, "load_kg": 11006, "loading_s": 281.1, "passes": 15}, {"carrier": 0, "departed_s": 963.6, "load_kg": 10268, "loading_s": 183.1, "passes": 10}], "trips": [{"depart_t": 134.77, "stages": {"loading": 134.77, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.85, "lower": 5.0, "return": 4.78, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 294, "away_s": 58.08}, {"depart_t": 381.68, "stages": {"loading": 188.83, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.68, "lower": 5.0, "return": 4.55, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 283, "away_s": 58.69}, {"depart_t": 721.5, "stages": {"loading": 281.13, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 6.12, "lower": 5.0, "return": 4.43, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 236, "away_s": 59.0}, {"depart_t": 963.58, "stages": {"loading": 183.08, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 6.53, "lower": 5.0, "return": 4.32, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 325, "away_s": 59.3}], "delivered_t": 40.89, "loaded_t": 52.27, "loaded_t_per_hour": 125.4, "mean_departure_interval_s": 276.3, "t_per_hour": 98.1, "mean_load_kg": 10508.0, "mean_loading_s": 197.0, "carry_back_kg": [294, 283, 236, 325], "mean_away_s": 58.8, "excavator_wait_s": 199.9, "passes": 72, "spoil_settled_t": 41.73, "lost_particles": 1826, "pool_short": 0, "skipped": [{"t": 647.93, "stage": "swing back", "max_err_rad": 0.0}, {"t": 651.95, "stage": "approach", "max_err_rad": 1.406}, {"t": 660.87, "stage": "curl", "max_err_rad": 0.146}], "carrier_wait_at_dump_s": 0.0, "carrier_wait_to_leave_s": 0.0, "carrier_wait_to_load_s": 0.0, "spot_empty_s": 235.1, "pit_left_t": 118.3, "pit_done": false, "faces": [[0.0, 0.0], [10.0, 0.0], [-30.0, 0.0], [-10.0, 0.0], [-20.0, 0.0], [20.0, 0.0], [-10.0, 0.0], [-30.0, 0.0], [-30.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [20.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-30.0, 0.0], [20.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-30.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [0.0, 0.0], [0.0, 0.0], 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{"pass": 10, "t": 218.0, "face": [0.0, 0.0, 1.1], "dig_max_kg": 1322, "early_curl": true, "skips": 0, "at_swing_kg": 1159, "carried_kg": 1198, "left_kg": 150}, {"pass": 11, "t": 235.5, "face": [-10.0, 0.0, 0.7], "dig_max_kg": 1180, "early_curl": false, "skips": 0, "at_swing_kg": 1130, "carried_kg": 1258, "left_kg": 260}, {"pass": 12, "t": 253.6, "face": [-10.0, 0.0, 1.01], "dig_max_kg": 1151, "early_curl": true, "skips": 0, "at_swing_kg": 1134, "carried_kg": 1302, "left_kg": 100}, {"pass": 13, "t": 272.2, "face": [20.0, 0.0, 0.65], "dig_max_kg": 1321, "early_curl": false, "skips": 0, "at_swing_kg": 1219, "carried_kg": 1342, "left_kg": 101}, {"pass": 14, "t": 290.9, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1225, "early_curl": false, "skips": 0, "at_swing_kg": 380, "carried_kg": 421, "left_kg": 56}, {"pass": 15, "t": 309.5, "face": [20.0, 0.0, 0.98], "dig_max_kg": 378, "early_curl": false, "skips": 0, "at_swing_kg": 209, "carried_kg": 222, "left_kg": 182}, {"pass": 16, "t": 327.1, "face": [10.0, 0.0, 0.65], "dig_max_kg": 1091, "early_curl": false, "skips": 0, "at_swing_kg": 1082, "carried_kg": 1185, "left_kg": 76}, {"pass": 17, "t": 344.5, "face": [10.0, 0.0, 1.12], "dig_max_kg": 1285, "early_curl": true, "skips": 0, "at_swing_kg": 1276, "carried_kg": 1390, "left_kg": 685}, {"pass": 18, "t": 363.6, "face": [-10.0, 0.0, 0.62], "dig_max_kg": 1505, "early_curl": false, "skips": 0, "at_swing_kg": 1465, "carried_kg": 1512, "left_kg": 560}, {"pass": 19, "t": 383.1, "face": [-10.0, 0.0, 1.0], "dig_max_kg": 1478, "early_curl": true, "skips": 0, "at_swing_kg": 1184, "carried_kg": 1155, "left_kg": 90}, {"pass": 20, "t": 449.1, "face": [0.0, 0.0, 0.62], "dig_max_kg": 1191, "early_curl": false, "skips": 0, "at_swing_kg": 1173, "carried_kg": 1294, "left_kg": 78}, {"pass": 21, "t": 466.1, "face": [0.0, 0.0, 1.05], "dig_max_kg": 1186, "early_curl": true, "skips": 0, "at_swing_kg": 1082, "carried_kg": 1161, "left_kg": 111}, {"pass": 22, "t": 484.5, "face": [0.0, 0.0, 0.74], "dig_max_kg": 1325, "early_curl": false, "skips": 0, "at_swing_kg": 1300, "carried_kg": 1296, "left_kg": 66}, {"pass": 23, "t": 501.1, "face": [0.0, 0.0, 1.05], "dig_max_kg": 1316, "early_curl": true, "skips": 0, "at_swing_kg": 1189, "carried_kg": 1210, "left_kg": 394}, {"pass": 24, "t": 519.9, "face": [-20.0, 0.0, 0.49], "dig_max_kg": 1193, "early_curl": false, "skips": 0, "at_swing_kg": 1057, "carried_kg": 1215, "left_kg": 91}, {"pass": 25, "t": 536.0, "face": [-20.0, 0.0, 0.95], "dig_max_kg": 1136, "early_curl": true, "skips": 0, "at_swing_kg": 1085, "carried_kg": 1199, "left_kg": 412}, {"pass": 26, "t": 553.3, "face": [-30.0, 0.0, 0.61], "dig_max_kg": 1386, "early_curl": false, "skips": 0, "at_swing_kg": 1324, "carried_kg": 1496, "left_kg": 105}, {"pass": 27, "t": 570.3, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1327, "early_curl": false, "skips": 0, "at_swing_kg": 573, "carried_kg": 602, "left_kg": 118}, {"pass": 28, "t": 589.3, "face": [20.0, 0.0, 0.97], "dig_max_kg": 584, "early_curl": false, "skips": 0, "at_swing_kg": 212, "carried_kg": 236, "left_kg": 215}, {"pass": 29, "t": 607.3, "face": [20.0, 0.0, 0.95], "dig_max_kg": 605, "early_curl": false, "skips": 0, "at_swing_kg": 594, "carried_kg": 671, "left_kg": 23}, {"pass": 30, "t": 624.7, "face": [-20.0, 0.0, 0.72], "dig_max_kg": 1180, "early_curl": false, "skips": 1, "at_swing_kg": 1163, "carried_kg": 1253, "left_kg": 458}, {"pass": 31, "t": 648.0, "face": [-20.0, 0.0, 1.04], "dig_max_kg": 1178, "early_curl": true, "skips": 2, "at_swing_kg": 590, "carried_kg": 0, "left_kg": 1}, {"pass": 32, "t": 667.8, "face": [-20.0, 0.0, 1.04], "dig_max_kg": 1548, "early_curl": true, "skips": 0, "at_swing_kg": 1510, "carried_kg": 1640, "left_kg": 81}, {"pass": 33, "t": 685.0, "face": [10.0, 0.0, 0.66], "dig_max_kg": 1531, "early_curl": false, "skips": 0, "at_swing_kg": 1342, "carried_kg": 1378, "left_kg": 200}, {"pass": 34, "t": 704.9, "face": [10.0, 0.0, 1.02], "dig_max_kg": 1356, "early_curl": true, "skips": 0, 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"early_curl": true, "skips": 0, "at_swing_kg": 358, "carried_kg": 319, "left_kg": 263}, {"pass": 60, "t": 1263.6, "face": [10.0, 0.0, 1.01], "dig_max_kg": 1512, "early_curl": false, "skips": 0, "at_swing_kg": 1489, "carried_kg": 1390, "left_kg": 432}, {"pass": 61, "t": 1283.5, "face": [-20.0, 0.0, 0.31], "dig_max_kg": 1502, "early_curl": false, "skips": 0, "at_swing_kg": 661, "carried_kg": 657, "left_kg": 114}, {"pass": 62, "t": 1301.7, "face": [-20.0, 0.0, 0.32], "dig_max_kg": 781, "early_curl": false, "skips": 0, "at_swing_kg": 162, "carried_kg": 214, "left_kg": 83}, {"pass": 63, "t": 1318.5, "face": [-20.0, 0.0, 0.33], "dig_max_kg": 610, "early_curl": false, "skips": 0, "at_swing_kg": 0, "carried_kg": 0, "left_kg": 14}, {"pass": 64, "t": 1336.2, "face": [0.0, 0.0, 1.1], "dig_max_kg": 443, "early_curl": false, "skips": 0, "at_swing_kg": 1, "carried_kg": 1, "left_kg": 30}, {"pass": 65, "t": 1353.4, "face": [0.0, 0.0, 1.11], "dig_max_kg": 606, "early_curl": false, "skips": 0, "at_swing_kg": 434, "carried_kg": 458, "left_kg": 17}, {"pass": 66, "t": 1370.7, "face": [-30.0, 0.0, 0.31], "dig_max_kg": 1044, "early_curl": false, "skips": 0, "at_swing_kg": 1014, "carried_kg": 1055, "left_kg": 29}, {"pass": 67, "t": 1387.8, "face": [-10.0, 0.0, 1.04], "dig_max_kg": 1033, "early_curl": false, "skips": 0, "at_swing_kg": 12, "carried_kg": 13, "left_kg": 0}, {"pass": 68, "t": 1404.5, "face": [-10.0, 0.0, 1.05], "dig_max_kg": 518, "early_curl": false, "skips": 0, "at_swing_kg": 0, "carried_kg": 0, "left_kg": 45}, {"pass": 69, "t": 1423.1, "face": [20.0, 0.0, 0.75], "dig_max_kg": 514, "early_curl": false, "skips": 0, "at_swing_kg": 514, "carried_kg": 621, "left_kg": 308}, {"pass": 70, "t": 1444.7, "face": [20.0, 0.0, 0.79], "dig_max_kg": 511, "early_curl": false, "skips": 0, "at_swing_kg": 117, "carried_kg": 133, "left_kg": 5}, {"pass": 71, "t": 1462.2, "face": [20.0, 0.0, 0.82], "dig_max_kg": 1332, "early_curl": true, "skips": 0, "at_swing_kg": 1314, "carried_kg": 1298, "left_kg": 205}], "dozer": {"passes": 12, "push_m": 90.7, "work_MJ": 2.2, "load_lifts": 67, "lifts_raised": 1, "parked_s": 1155.18, "working_s": 344.83, "peak_kN": 82.27, "slip_s": 2.98, "futile_passes": 0, "mean_push_kN": [26.0, 20.9, 16.1, 15.3, 15.1, 30.4, 22.9, 25.9, 27.6, 30.8, 27.8, 24.3]}, "spread": {"design_z_above_ground": 0.6, "area_m2": 61.2, "covered_m2": 44.1, "rms_from_grade_m": 0.397, "max_above_grade_m": 2.15, "at_grade_fraction": 0.34, "unspread_m3": 3.61}} diff --git a/phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json b/phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json new file mode 100644 index 0000000..aad72a9 --- /dev/null +++ b/phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json @@ -0,0 +1,115 @@ +Warp 1.19.0 initialized: + CUDA Toolkit 13.4, Driver 13.0 + Devices: + "cpu" : "aarch64" + "cuda:0" : "NVIDIA GB10" (122 GiB, sm_121, mempool enabled) + Kernel cache: + /home/dttai1/.cache/warp/1.19.0 +Module validate_and_correct_inertia_kernel_0dd217c5 0dd217c load on device 'cuda:0' took 0.85 ms (cached) +Module newton._src.geometry.bvh c108a72 load on device 'cuda:0' took 0.56 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_model 3bb21b4 load on device 'cuda:0' took 0.51 ms (cached) +Module warp.fem.geometry.nanogrid 8a477eb load on device 'cuda:0' took 0.57 ms (cached) +Module warp._src.fem.quadrature.pic_quadrature.dyn.bin_particles_72b36c27 1274abb load on device 'cuda:0' took 0.46 ms (cached) +Module warp.fem.utils 5050414 load on device 'cuda:0' took 0.36 ms (cached) +Module warp._src.fem.quadrature.pic_quadrature.dyn.finalize_cell_particle_data_6a72a038 588425d load on device 'cuda:0' took 0.35 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_60813d26 264deb8 load on device 'cuda:0' took 0.44 ms (cached) +Module warp.fem.space.restriction 13859e3 load on device 'cuda:0' took 0.29 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_9775d3a0 c659439 load on device 'cuda:0' took 0.34 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_8688d243 72a45d0 load on device 'cuda:0' took 0.31 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.dyn.cell_color_e837866a 03aea13 load on device 'cuda:0' took 0.31 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels 309f94e load on device 'cuda:0' took 0.43 ms (cached) +Module warp._src.coloring 5014867 load on device 'cpu' took 0.90 ms (cached) +Module newton._src.solvers.mujoco.kernels 8cde23f load on device 'cuda:0' took 2.97 ms (cached) +Module mujoco_warp._src.set_const e7f6e53 load on device 'cuda:0' took 0.70 ms (cached) +Module mujoco_warp._src.smooth 6ec87e9 load on device 'cuda:0' took 1.35 ms (cached) +Module _small_cholesky_factorize_block__locals__kernel_688128d2 3a1ff3a load on device 'cuda:0' took 0.34 ms (cached) +Module _small_cholesky_factorize_block__locals__kernel_76d25309 797032f load on device 'cuda:0' took 0.28 ms (cached) +Module _small_cholesky_solve_block__locals__kernel_1e3f1516 c492a5b load on device 'cuda:0' took 0.29 ms (cached) +Module _small_cholesky_solve_block__locals__kernel_b7425cff b9bad6a load on device 'cuda:0' took 0.27 ms (cached) +Module create_eval_articulation_fk_tile__locals__eval_articulation_fk_tile_b12ad9e5 33f5a01 load on device 'cuda:0' took 0.55 ms (cached) +Module soil_zone 8795928 load on device 'cuda:0' took 0.82 ms (cached) +Module map_mul 4da365f load on device 'cuda:0' took 0.32 ms (cached) +Module soil_server d8198c9 load on device 'cuda:0' took 0.49 ms (cached) +Module excavator_server b3143cf load on device 'cuda:0' took 0.41 ms (cached) +Module newton._src.sim.collide f8ad45d load on device 'cuda:0' took 0.34 ms (cached) +Module newton._src.geometry.broad_phase_nxn 92014d2 load on device 'cuda:0' took 0.30 ms (cached) +Module narrow_phase_primitive_write_contact_False_False_False 3cf6427 load on device 'cuda:0' took 0.33 ms (cached) +Module narrow_phase_gjk_mpr_True_False_write_contact_support_map_lean_post_process_minkowski_only 7d090a1 load on device 'cuda:0' took 0.46 ms (cached) +Module newton._src.geometry.narrow_phase dde4959 load on device 'cuda:0' took 0.46 ms (cached) +Module mujoco_warp._src.constraint 9feb269 load on device 'cuda:0' took 0.32 ms (cached) +Module _friction_dof__locals__kernel_de3fc701 de3fc70 load on device 'cuda:0' took 0.39 ms (cached) +Module _limit_slide_hinge__locals__kernel_0914a21e 0914a21 load on device 'cuda:0' took 0.33 ms (cached) +Module _efc_contact_init__locals__kernel_2fbed541 2fbed54 load on device 'cuda:0' took 0.30 ms (cached) +Module _efc_contact_jac_dense__locals__kernel_1686fae4 bea9b8b load on device 'cuda:0' took 0.36 ms (cached) +Module _efc_contact_update__locals__kernel_a67f25cf a67f25c load on device 'cuda:0' took 0.29 ms (cached) +Module mujoco_warp._src.passive a2eea36 load on device 'cuda:0' took 0.45 ms (cached) +Module _qfrc_passive_kernel__locals__kernel_887f05a4 887f05a load on device 'cuda:0' took 0.29 ms (cached) +Module _qfrc_smooth__locals__kernel_5d93552d 5d93552 load on device 'cuda:0' took 0.28 ms (cached) +Module mujoco_warp._src.support 462b66b load on device 'cuda:0' took 0.27 ms (cached) +Module _small_cholesky_factorize_solve_block__locals__kernel_32267892 9d7a2a3 load on device 'cuda:0' took 0.30 ms (cached) +Module _small_cholesky_factorize_solve_block__locals__kernel_bbb3b6d0 7e9304f load on device 'cuda:0' took 0.28 ms (cached) +Module _solve_init_dof__locals__kernel_08db194e 08db194 load on device 'cuda:0' took 0.27 ms (cached) +Module mujoco_warp._src.solver ab57257 load on device 'cuda:0' took 0.39 ms (cached) +Module _solve_init_jaref_kernel__locals__kernel_7c525cac 7c525ca load on device 'cuda:0' took 0.28 ms (cached) +Module mul_m_kernel__locals___mul_m_2eb0ef19 2eb0ef1 load on device 'cuda:0' took 0.27 ms (cached) +Module _update_constraint_efc__locals__kernel_01e3395a 01e3395 load on device 'cuda:0' took 0.28 ms (cached) +Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_1f63a94a 1f63a94 load on device 'cuda:0' took 0.29 ms (cached) +Module _update_gradient_zero_grad_dot__locals__kernel_eeeb13da eeeb13d load on device 'cuda:0' took 0.27 ms (cached) +Module _update_gradient_grad__locals__kernel_9654ebd0 9654ebd load on device 'cuda:0' took 0.27 ms (cached) +Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_42d95046 a1e3b32 load on device 'cuda:0' took 0.50 ms (cached) +Module _update_gradient_cholesky__locals__kernel_4248b06c d4ff837 load on device 'cuda:0' took 26.83 ms (cached) +Module _linesearch_iterative_kernel__locals__kernel_9e726ceb fad442d load on device 'cuda:0' took 0.49 ms (cached) +Module _update_constraint_efc__locals__kernel_81674199 8167419 load on device 'cuda:0' took 0.32 ms (cached) +Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_8e350d39 8e350d3 load on device 'cuda:0' took 0.29 ms (cached) +Module _update_gradient_zero_grad_dot__locals__kernel_ba7e8e2f ba7e8e2 load on device 'cuda:0' took 0.28 ms (cached) +Module _update_gradient_grad__locals__kernel_4f2bb7a9 4f2bb7a load on device 'cuda:0' took 0.27 ms (cached) +Module _update_gradient_cholesky__locals__kernel_4c171783 4827da2 load on device 'cuda:0' took 26.96 ms (cached) +Module _solve_done__locals__kernel_8d3e2217 8d3e221 load on device 'cuda:0' took 0.42 ms (cached) +Module mujoco_warp._src.derivative 380fbcc load on device 'cuda:0' took 0.57 ms (cached) +Module mujoco_warp._src.forward 9883e25 load on device 'cuda:0' took 0.46 ms (cached) +Module _next_time_builder__locals___next_time_1cb22d2e 1cb22d2 load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_2fb7f2f1 60674ca load on device 'cuda:0' took 0.51 ms (cached) +Module newton._src.solvers.implicit_mpm.rasterized_collisions.world_position_33f2b610 f78fcaa load on device 'cuda:0' took 0.38 ms (cached) +Module newton._src.solvers.implicit_mpm.rasterized_collisions 6d32b59 load on device 'cuda:0' took 0.41 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.collision_weight_field_8c7a1ed7 c6a78c2 load on device 'cuda:0' took 0.37 ms (cached) +Module _bsr_accumulate_triplet_values_89c51218 7baeb9a load on device 'cuda:0' took 0.32 ms (cached) +Module warp._src.fem.quadrature.quadrature.dyn.quadrature_point_element_indices_d52fa04e ff44114 load on device 'cuda:0' took 0.36 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_e081b3ef ccc78d5 load on device 'cuda:0' took 0.35 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_c147b205 39f0a31 load on device 'cuda:0' took 0.36 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_apic_9dd4ac18 813b0f2 load on device 'cuda:0' took 0.36 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_mass_5fda8e19 ac3dcd8 load on device 'cuda:0' took 0.37 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_fea4d8fd 16d7ac5 load on device 'cuda:0' took 0.37 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_yield_parameters_6dcf6251 7dc048e load on device 'cuda:0' took 0.44 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_88c9ef37 0303b67 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_active_fraction_a5404331 06e1637 load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_99ecc7cf a3c8b39 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_7c94db4e 0446aed load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_a649643f 454191e load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_collider_fraction_a5258c95 ac7d7fc load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_bdb78fbc 7f792ef load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.strain_delta_form_622b62c3 f655226 load on device 'cuda:0' took 0.34 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_6d221857 31482f3 load on device 'cuda:0' took 0.37 ms (cached) +Module warp.fem.integrate._identity_field_b5aa3f34 0ab4782 load on device 'cuda:0' took 0.53 ms (cached) +Module warp.fem.integrate._identity_field_a98e1c46 928ad9d load on device 'cuda:0' took 0.44 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.mass_form_bd277bc5 45a767e load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_f6d3cfb2 ad2be72 load on device 'cuda:0' took 0.36 ms (cached) +Module warp.sparse 52bbb2e load on device 'cuda:0' took 0.55 ms (cached) +Module _bsr_assign_copy_blocks_25808539 9673674 load on device 'cuda:0' took 0.30 ms (cached) +Module compute_eigenvalues_70d01c86 29a61fe load on device 'cuda:0' took 0.30 ms (cached) +Module inverse_scale_vector_e40af5d0 f052608 load on device 'cuda:0' took 0.31 ms (cached) +Module newton._src.solvers.implicit_mpm.contact_solver_kernels f1493cd load on device 'cuda:0' took 0.46 ms (cached) +Module _bsr_transpose_values_1d188087 aa92b67 load on device 'cuda:0' took 0.46 ms (cached) +Module make_bsr_mv_tiled_kernel__locals__bsr_mv_tiled_kernel_17fd668b 3f91fc9 load on device 'cuda:0' took 0.38 ms (cached) +Module make_bsr_mv_kernel__locals__bsr_mv_kernel_37b51eee bf7159b load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels 42c788a load on device 'cuda:0' took 0.89 ms (cached) +Module newton._src.solvers.implicit_mpm.solve_rheology 65415ca load on device 'cuda:0' took 0.44 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels c7bb17e load on device 'cuda:0' took 0.62 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels.dyn.gs_solve_kernel_impl_ba42a0de 8d2ccee load on device 'cuda:0' took 0.35 ms (cached) +Module newton._src.solvers.implicit_mpm.solve_rheology 92bb71d load on device 'cuda:0' took 0.53 ms (cached) +Module warp.fem.space.partition 4c5b150 load on device 'cuda:0' took 0.35 ms (cached) +Module scatter_field_dof_values_ec638f93 bde0ade load on device 'cuda:0' took 0.34 ms (cached) +Module warp.fem.integrate._identity_field_15c95b83 0df86d1 load on device 'cuda:0' took 0.36 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.advect_particles_2f248551 bfedeec load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_380959cb bb9f71e load on device 'cuda:0' took 0.54 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_ec304b85 25a078a load on device 'cuda:0' took 0.37 ms (cached) +{"soil": "dry-sand", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.938, "loads": [{"carrier": 0, "departed_s": 187.9, "load_kg": 8451, "loading_s": 187.9, "passes": 9}, {"carrier": 0, "departed_s": 381.9, "load_kg": 8335, "loading_s": 137.3, "passes": 6}, {"carrier": 0, "departed_s": 607.8, "load_kg": 8680, "loading_s": 169.2, "passes": 8}, {"carrier": 0, "departed_s": 817.4, "load_kg": 8552, "loading_s": 152.9, "passes": 7}, {"carrier": 0, "departed_s": 1007.1, "load_kg": 10723, "loading_s": 132.3, "passes": 7}, {"carrier": 0, "departed_s": 1230.7, "load_kg": 10546, "loading_s": 165.7, "passes": 9}], "trips": [{"depart_t": 187.88, "stages": {"loading": 187.88, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.03, "lower": 5.0, "return": 5.23, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 86, "away_s": 56.72}, {"depart_t": 381.93, "stages": {"loading": 137.33, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.03, "lower": 5.0, "return": 5.23, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 60, "away_s": 56.72}, {"depart_t": 607.82, "stages": {"loading": 169.17, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.03, "lower": 5.0, "return": 5.23, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 168, "away_s": 56.71}, {"depart_t": 817.42, "stages": {"loading": 152.88, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.95, "lower": 5.0, "return": 5.02, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 254, "away_s": 57.41}, {"depart_t": 1007.15, "stages": {"loading": 132.32, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.47, "lower": 5.0, "return": 4.88, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 271, "away_s": 57.8}, {"depart_t": 1230.68, "stages": {"loading": 165.73, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.18, "lower": 5.0, "return": 4.95, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 314, "away_s": 57.59}], "delivered_t": 54.13, "loaded_t": 61.32, "loaded_t_per_hour": 147.2, "mean_departure_interval_s": 208.6, "t_per_hour": 129.9, "mean_load_kg": 9214.0, "mean_loading_s": 157.6, "carry_back_kg": [86, 60, 168, 254, 271, 314], "mean_away_s": 57.2, "excavator_wait_s": 287.7, "passes": 64, "spoil_settled_t": 53.88, "lost_particles": 6586, "pool_short": 91, "skipped": [{"t": 152.03, "stage": "swing back", "max_err_rad": 0.058}, {"t": 156.05, "stage": "approach", "max_err_rad": 1.761}, {"t": 160.07, "stage": "penetrate", "max_err_rad": 1.755}, {"t": 164.08, "stage": "drag", "max_err_rad": 1.752}, {"t": 168.1, "stage": "drag-curl", "max_err_rad": 1.738}, {"t": 172.12, "stage": "curl", "max_err_rad": 1.583}, {"t": 182.18, "stage": "swing to truck", "max_err_rad": 0.41}, {"t": 346.3, "stage": "swing back", "max_err_rad": 0.062}, {"t": 350.32, "stage": "approach", "max_err_rad": 1.909}, {"t": 354.33, "stage": "penetrate", "max_err_rad": 1.905}, {"t": 358.35, "stage": "drag", "max_err_rad": 1.907}, {"t": 362.37, "stage": "drag-curl", "max_err_rad": 1.909}, {"t": 366.38, "stage": "curl", "max_err_rad": 1.817}, {"t": 377.72, "stage": "swing to truck", "max_err_rad": 0.505}, {"t": 572.45, "stage": "swing back", "max_err_rad": 0.057}, {"t": 576.47, "stage": "approach", "max_err_rad": 1.572}, {"t": 580.48, "stage": "penetrate", "max_err_rad": 1.574}, {"t": 584.5, "stage": "drag", "max_err_rad": 1.577}, {"t": 588.52, "stage": "drag-curl", "max_err_rad": 1.568}, {"t": 592.53, "stage": "curl", "max_err_rad": 1.471}, {"t": 602.63, "stage": "swing to truck", "max_err_rad": 0.344}, {"t": 781.13, "stage": "swing back", "max_err_rad": 0.064}, {"t": 785.15, "stage": "approach", "max_err_rad": 1.378}, {"t": 789.17, "stage": "penetrate", "max_err_rad": 1.375}, {"t": 793.18, "stage": "drag", "max_err_rad": 1.371}, {"t": 797.2, "stage": "drag-curl", "max_err_rad": 1.364}, {"t": 801.22, "stage": "curl", "max_err_rad": 1.228}, {"t": 811.73, "stage": "swing to truck", "max_err_rad": 0.466}], "carrier_wait_at_dump_s": 0.0, "carrier_wait_to_leave_s": 0.0, "carrier_wait_to_load_s": 0.0, "spot_empty_s": 343.0, "pit_left_t": 76.5, "pit_done": false, "faces": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-30.0, 0.0], [-30.0, 0.0], [10.0, 0.0], [10.0, 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"left_kg": 1}, {"pass": 1, "t": 15.7, "face": [0.0, 0.0, 1.48], "dig_max_kg": 1624, "early_curl": false, "skips": 0, "at_swing_kg": 1624, "carried_kg": 1327, "left_kg": 3}, {"pass": 2, "t": 31.5, "face": [0.0, 0.0, 1.42], "dig_max_kg": 1778, "early_curl": false, "skips": 0, "at_swing_kg": 1778, "carried_kg": 1421, "left_kg": 1}, {"pass": 3, "t": 47.6, "face": [-30.0, 0.0, 1.45], "dig_max_kg": 1768, "early_curl": false, "skips": 0, "at_swing_kg": 814, "carried_kg": 483, "left_kg": 0}, {"pass": 4, "t": 62.9, "face": [-30.0, 0.0, 1.45], "dig_max_kg": 1562, "early_curl": false, "skips": 0, "at_swing_kg": 1562, "carried_kg": 1292, "left_kg": 1}, {"pass": 5, "t": 78.7, "face": [10.0, 0.0, 1.45], "dig_max_kg": 1538, "early_curl": false, "skips": 0, "at_swing_kg": 1243, "carried_kg": 944, "left_kg": 0}, {"pass": 6, "t": 95.2, "face": [10.0, 0.0, 1.65], "dig_max_kg": 1748, "early_curl": false, "skips": 0, "at_swing_kg": 1748, "carried_kg": 1270, "left_kg": 1}, {"pass": 7, "t": 112.6, "face": [0.0, 0.0, 1.57], "dig_max_kg": 1853, "early_curl": false, "skips": 0, "at_swing_kg": 1853, "carried_kg": 1566, "left_kg": 1}, {"pass": 8, "t": 128.8, "face": [0.0, 0.0, 1.7], "dig_max_kg": 2064, "early_curl": false, "skips": 1, "at_swing_kg": 2064, "carried_kg": 1567, "left_kg": 1}, {"pass": 9, "t": 152.1, "face": [0.0, 0.0, 1.57], "dig_max_kg": 2039, "early_curl": false, "skips": 6, "at_swing_kg": 1057, "carried_kg": 1220, "left_kg": 3}, {"pass": 10, "t": 189.5, "face": [0.0, 0.0, 1.55], "dig_max_kg": 2003, "early_curl": false, "skips": 0, "at_swing_kg": 1699, "carried_kg": 1424, "left_kg": 9}, {"pass": 11, "t": 251.6, "face": [0.0, 0.0, 1.66], "dig_max_kg": 2047, "early_curl": false, "skips": 0, "at_swing_kg": 2047, "carried_kg": 1563, "left_kg": 2}, {"pass": 12, "t": 269.3, "face": [0.0, 0.0, 1.59], "dig_max_kg": 2038, "early_curl": false, "skips": 0, "at_swing_kg": 2038, "carried_kg": 1473, "left_kg": 2}, {"pass": 13, "t": 287.4, "face": [0.0, 0.0, 1.62], "dig_max_kg": 2042, "early_curl": false, "skips": 0, "at_swing_kg": 2042, "carried_kg": 1620, "left_kg": 8}, {"pass": 14, "t": 304.4, "face": [0.0, 0.0, 1.58], "dig_max_kg": 2021, "early_curl": false, "skips": 0, "at_swing_kg": 2021, "carried_kg": 1539, "left_kg": 10}, {"pass": 15, "t": 322.3, "face": [0.0, 0.0, 1.63], "dig_max_kg": 2055, "early_curl": false, "skips": 1, "at_swing_kg": 2055, "carried_kg": 1509, "left_kg": 12}, {"pass": 16, "t": 346.3, "face": [0.0, 0.0, 1.65], "dig_max_kg": 2048, "early_curl": false, "skips": 6, "at_swing_kg": 951, "carried_kg": 1298, "left_kg": 2}, {"pass": 17, "t": 383.6, "face": [0.0, 0.0, 1.66], "dig_max_kg": 2048, "early_curl": false, "skips": 0, "at_swing_kg": 1692, "carried_kg": 1354, "left_kg": 1}, {"pass": 18, "t": 445.6, "face": [-30.0, 0.0, 1.55], "dig_max_kg": 2023, "early_curl": false, "skips": 0, "at_swing_kg": 1592, "carried_kg": 1265, "left_kg": 15}, {"pass": 19, "t": 462.4, "face": [0.0, 0.0, 1.46], "dig_max_kg": 2037, "early_curl": false, "skips": 0, "at_swing_kg": 2037, "carried_kg": 1627, "left_kg": 7}, {"pass": 20, "t": 480.2, "face": [10.0, 0.0, 1.4], "dig_max_kg": 2000, "early_curl": false, "skips": 0, "at_swing_kg": 1636, "carried_kg": 1179, "left_kg": 9}, {"pass": 21, "t": 497.2, "face": [0.0, 0.0, 1.61], "dig_max_kg": 2032, "early_curl": false, "skips": 0, "at_swing_kg": 2032, "carried_kg": 1425, "left_kg": 0}, {"pass": 22, "t": 515.1, "face": [-30.0, 0.0, 1.35], "dig_max_kg": 2019, "early_curl": false, "skips": 0, "at_swing_kg": 1524, "carried_kg": 1230, "left_kg": 8}, {"pass": 23, "t": 530.5, "face": [-20.0, 0.0, 1.39], "dig_max_kg": 1519, "early_curl": false, "skips": 0, "at_swing_kg": 892, "carried_kg": 659, "left_kg": 1}, {"pass": 24, "t": 546.3, "face": [0.0, 0.0, 1.51], "dig_max_kg": 2023, "early_curl": false, "skips": 1, "at_swing_kg": 2023, "carried_kg": 1499, "left_kg": 43}, {"pass": 25, "t": 572.5, "face": [-20.0, 0.0, 1.43], "dig_max_kg": 2008, "early_curl": false, "skips": 6, "at_swing_kg": 1327, "carried_kg": 1449, "left_kg": 3}, {"pass": 26, "t": 609.2, "face": [-20.0, 0.0, 1.43], "dig_max_kg": 1522, "early_curl": false, "skips": 0, "at_swing_kg": 1273, "carried_kg": 999, "left_kg": 1}, {"pass": 27, "t": 671.5, "face": [-20.0, 0.0, 1.61], "dig_max_kg": 1886, "early_curl": false, "skips": 0, "at_swing_kg": 1886, "carried_kg": 1490, "left_kg": 2}, {"pass": 28, "t": 689.3, "face": [0.0, 0.0, 1.48], "dig_max_kg": 1972, "early_curl": false, "skips": 0, "at_swing_kg": 1972, "carried_kg": 1675, "left_kg": 7}, {"pass": 29, "t": 706.8, "face": [-20.0, 0.0, 1.5], "dig_max_kg": 1950, "early_curl": false, "skips": 0, "at_swing_kg": 1872, "carried_kg": 1587, "left_kg": 1}, {"pass": 30, "t": 723.6, "face": [-20.0, 0.0, 1.48], "dig_max_kg": 1921, "early_curl": false, "skips": 0, "at_swing_kg": 1921, "carried_kg": 1537, "left_kg": 13}, {"pass": 31, "t": 741.5, "face": [-10.0, 0.0, 1.51], "dig_max_kg": 1669, "early_curl": false, "skips": 0, "at_swing_kg": 1669, "carried_kg": 1397, "left_kg": 5}, {"pass": 32, "t": 758.1, "face": [0.0, 0.0, 1.59], "dig_max_kg": 1953, "early_curl": false, "skips": 1, "at_swing_kg": 1953, "carried_kg": 1471, "left_kg": 1}, {"pass": 33, "t": 781.2, "face": [-20.0, 0.0, 1.5], "dig_max_kg": 1945, "early_curl": false, "skips": 6, "at_swing_kg": 792, "carried_kg": 973, "left_kg": 2}, {"pass": 34, "t": 818.6, "face": [-20.0, 0.0, 1.5], "dig_max_kg": 1819, "early_curl": false, "skips": 0, "at_swing_kg": 1573, "carried_kg": 1316, "left_kg": 7}, {"pass": 35, "t": 881.6, "face": [-10.0, 0.0, 1.49], "dig_max_kg": 1778, "early_curl": false, "skips": 0, "at_swing_kg": 1778, "carried_kg": 1424, "left_kg": 2}, {"pass": 36, "t": 899.3, "face": [10.0, 0.0, 1.32], "dig_max_kg": 1763, "early_curl": false, "skips": 0, "at_swing_kg": 1594, "carried_kg": 1058, "left_kg": 0}, {"pass": 37, "t": 917.4, "face": [10.0, 0.0, 1.53], "dig_max_kg": 1813, "early_curl": false, "skips": 0, "at_swing_kg": 1813, "carried_kg": 1363, "left_kg": 8}, {"pass": 38, "t": 934.4, "face": [0.0, 0.0, 1.56], "dig_max_kg": 1900, "early_curl": false, "skips": 0, "at_swing_kg": 1900, "carried_kg": 1467, "left_kg": 1}, {"pass": 39, "t": 952.6, "face": [10.0, 0.0, 1.46], "dig_max_kg": 1879, "early_curl": false, "skips": 0, "at_swing_kg": 1755, "carried_kg": 1196, "left_kg": 1}, {"pass": 40, "t": 971.4, "face": [20.0, 0.0, 1.23], "dig_max_kg": 1730, "early_curl": false, "skips": 0, "at_swing_kg": 1304, "carried_kg": 929, "left_kg": 1}, {"pass": 41, "t": 989.8, "face": [20.0, 0.0, 1.32], "dig_max_kg": 1732, "early_curl": false, "skips": 0, "at_swing_kg": 1732, "carried_kg": 1256, "left_kg": 1}, {"pass": 42, "t": 1009.0, "face": [10.0, 0.0, 1.42], "dig_max_kg": 1820, "early_curl": false, "skips": 0, "at_swing_kg": 1401, "carried_kg": 1090, "left_kg": 1}, {"pass": 43, "t": 1072.2, "face": [-20.0, 0.0, 1.3], "dig_max_kg": 1798, "early_curl": false, "skips": 0, "at_swing_kg": 1657, "carried_kg": 1426, "left_kg": 3}, {"pass": 44, "t": 1088.8, "face": [-10.0, 0.0, 1.3], "dig_max_kg": 1764, "early_curl": false, "skips": 0, "at_swing_kg": 1764, "carried_kg": 1414, "left_kg": 9}, {"pass": 45, "t": 1106.5, "face": [0.0, 0.0, 1.29], "dig_max_kg": 1751, "early_curl": false, "skips": 0, "at_swing_kg": 1727, "carried_kg": 1218, "left_kg": 1}, {"pass": 46, "t": 1125.8, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1702, "early_curl": false, "skips": 0, "at_swing_kg": 1211, "carried_kg": 919, "left_kg": 0}, {"pass": 47, "t": 1144.0, "face": [-20.0, 0.0, 0.91], "dig_max_kg": 1314, "early_curl": false, "skips": 0, "at_swing_kg": 1314, "carried_kg": 1076, "left_kg": 8}, {"pass": 48, "t": 1160.9, "face": [-10.0, 0.0, 0.85], "dig_max_kg": 1371, "early_curl": false, "skips": 0, "at_swing_kg": 1371, "carried_kg": 979, "left_kg": 1}, {"pass": 49, "t": 1179.2, "face": [10.0, 0.0, 0.84], "dig_max_kg": 1364, "early_curl": false, "skips": 0, "at_swing_kg": 1252, "carried_kg": 955, "left_kg": 2}, {"pass": 50, "t": 1196.9, "face": [0.0, 0.0, 0.78], "dig_max_kg": 1236, "early_curl": false, "skips": 0, "at_swing_kg": 1153, "carried_kg": 807, "left_kg": 1}, {"pass": 51, "t": 1214.6, "face": [-20.0, 0.0, 0.74], "dig_max_kg": 1048, "early_curl": false, "skips": 0, "at_swing_kg": 1048, "carried_kg": 657, "left_kg": 0}, {"pass": 52, "t": 1232.8, "face": [20.0, 0.0, 0.71], "dig_max_kg": 1031, "early_curl": false, "skips": 0, "at_swing_kg": 502, "carried_kg": 424, "left_kg": 0}, {"pass": 53, "t": 1294.9, "face": [-10.0, 0.0, 0.68], "dig_max_kg": 1083, "early_curl": false, "skips": 0, "at_swing_kg": 1083, "carried_kg": 782, "left_kg": 0}, {"pass": 54, "t": 1312.8, "face": [10.0, 0.0, 0.64], "dig_max_kg": 1070, "early_curl": false, "skips": 0, "at_swing_kg": 908, "carried_kg": 543, "left_kg": 1}, {"pass": 55, "t": 1331.1, "face": [0.0, 0.0, 0.65], "dig_max_kg": 904, "early_curl": false, "skips": 0, "at_swing_kg": 904, "carried_kg": 589, "left_kg": 1}, {"pass": 56, "t": 1348.3, "face": [-20.0, 0.0, 0.63], "dig_max_kg": 891, "early_curl": false, "skips": 0, "at_swing_kg": 889, "carried_kg": 624, "left_kg": 0}, {"pass": 57, "t": 1366.0, "face": [20.0, 0.0, 0.6], "dig_max_kg": 883, "early_curl": false, "skips": 0, "at_swing_kg": 623, "carried_kg": 339, "left_kg": 1}, {"pass": 58, "t": 1384.9, "face": [-10.0, 0.0, 0.58], "dig_max_kg": 890, "early_curl": false, "skips": 0, "at_swing_kg": 890, "carried_kg": 627, "left_kg": 0}, {"pass": 59, "t": 1402.3, "face": [10.0, 0.0, 0.53], "dig_max_kg": 876, "early_curl": false, "skips": 0, "at_swing_kg": 706, "carried_kg": 413, "left_kg": 0}, {"pass": 60, "t": 1420.3, "face": [0.0, 0.0, 0.56], "dig_max_kg": 744, "early_curl": false, "skips": 0, "at_swing_kg": 744, "carried_kg": 437, "left_kg": 0}, {"pass": 61, "t": 1438.2, "face": [-20.0, 0.0, 0.55], "dig_max_kg": 783, "early_curl": false, "skips": 0, "at_swing_kg": 783, "carried_kg": 548, "left_kg": 1}, {"pass": 62, "t": 1454.9, "face": [-10.0, 0.0, 0.51], "dig_max_kg": 780, "early_curl": false, "skips": 0, "at_swing_kg": 780, "carried_kg": 508, "left_kg": 0}, {"pass": 63, "t": 1473.0, "face": [20.0, 0.0, 0.51], "dig_max_kg": 766, "early_curl": false, "skips": 0, "at_swing_kg": 460, "carried_kg": 195, "left_kg": 0}], "dozer": {"passes": 24, "push_m": 125.59, "work_MJ": 1.11, "load_lifts": 3, "lifts_raised": 1, "parked_s": 1015.15, "working_s": 484.87, "peak_kN": 53.0, "slip_s": 0.0, "futile_passes": 5, "mean_push_kN": [8.5, 3.7, 7.1, 13.5, 0.3, 5.9, 6.2, 2.1, 13.6, 5.7, 7.3, 6.6, 14.8, 0.5, 10.3, 7.8, 7.2, 4.2, 2.0, 2.5, 0.6, 13.9, 0.5, 10.3]}, "spread": {"design_z_above_ground": 0.6, "area_m2": 61.2, "covered_m2": 56.6, "rms_from_grade_m": 0.143, "max_above_grade_m": 0.42, "at_grade_fraction": 0.58, "unspread_m3": 0.69}} diff --git a/phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json b/phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json new file mode 100644 index 0000000..1b3cf87 --- /dev/null +++ b/phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json @@ -0,0 +1,117 @@ +Warp 1.19.0 initialized: + CUDA Toolkit 13.4, Driver 13.0 + Devices: + "cpu" : "aarch64" + "cuda:0" : "NVIDIA GB10" (122 GiB, sm_121, mempool enabled) + Kernel cache: + /home/dttai1/.cache/warp/1.19.0 +Module validate_and_correct_inertia_kernel_0dd217c5 0dd217c load on device 'cuda:0' took 0.83 ms (cached) +Module newton._src.geometry.bvh c108a72 load on device 'cuda:0' took 0.55 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_model 3bb21b4 load on device 'cuda:0' took 0.51 ms (cached) +Module warp.fem.geometry.nanogrid 8a477eb load on device 'cuda:0' took 0.56 ms (cached) +Module warp._src.fem.quadrature.pic_quadrature.dyn.bin_particles_72b36c27 1274abb load on device 'cuda:0' took 0.46 ms (cached) +Module warp.fem.utils 5050414 load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.quadrature.pic_quadrature.dyn.finalize_cell_particle_data_6a72a038 588425d load on device 'cuda:0' took 0.47 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_60813d26 264deb8 load on device 'cuda:0' took 0.43 ms (cached) +Module warp.fem.space.restriction 13859e3 load on device 'cuda:0' took 0.30 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_9775d3a0 c659439 load on device 'cuda:0' took 0.35 ms (cached) +Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_8688d243 72a45d0 load on device 'cuda:0' took 0.31 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.dyn.cell_color_e837866a 03aea13 load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels 309f94e load on device 'cuda:0' took 0.41 ms (cached) +Module warp._src.coloring 5014867 load on device 'cpu' took 0.86 ms (cached) +Module newton._src.solvers.mujoco.kernels 8cde23f load on device 'cuda:0' took 2.92 ms (cached) +Module mujoco_warp._src.set_const e7f6e53 load on device 'cuda:0' took 0.59 ms (cached) +Module mujoco_warp._src.smooth 6ec87e9 load on device 'cuda:0' took 1.36 ms (cached) +Module _small_cholesky_factorize_block__locals__kernel_688128d2 3a1ff3a load on device 'cuda:0' took 0.31 ms (cached) +Module _small_cholesky_factorize_block__locals__kernel_76d25309 797032f load on device 'cuda:0' took 0.28 ms (cached) +Module _small_cholesky_solve_block__locals__kernel_1e3f1516 c492a5b load on device 'cuda:0' took 0.28 ms (cached) +Module _small_cholesky_solve_block__locals__kernel_b7425cff b9bad6a load on device 'cuda:0' took 0.27 ms (cached) +Module create_eval_articulation_fk_tile__locals__eval_articulation_fk_tile_b12ad9e5 33f5a01 load on device 'cuda:0' took 0.53 ms (cached) +Module soil_zone 8795928 load on device 'cuda:0' took 0.74 ms (cached) +Module map_mul 4da365f load on device 'cuda:0' took 0.30 ms (cached) +Module soil_server d8198c9 load on device 'cuda:0' took 0.49 ms (cached) +Module excavator_server b3143cf load on device 'cuda:0' took 0.39 ms (cached) +Module newton._src.sim.collide f8ad45d load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.geometry.broad_phase_nxn 92014d2 load on device 'cuda:0' took 0.29 ms (cached) +Module narrow_phase_primitive_write_contact_False_False_False 3cf6427 load on device 'cuda:0' took 0.33 ms (cached) +Module narrow_phase_gjk_mpr_True_False_write_contact_support_map_lean_post_process_minkowski_only 7d090a1 load on device 'cuda:0' took 0.39 ms (cached) +Module newton._src.geometry.narrow_phase dde4959 load on device 'cuda:0' took 0.41 ms (cached) +Module mujoco_warp._src.constraint 9feb269 load on device 'cuda:0' took 0.29 ms (cached) +Module _friction_dof__locals__kernel_de3fc701 de3fc70 load on device 'cuda:0' took 0.32 ms (cached) +Module _limit_slide_hinge__locals__kernel_0914a21e 0914a21 load on device 'cuda:0' took 0.30 ms (cached) +Module _efc_contact_init__locals__kernel_2fbed541 2fbed54 load on device 'cuda:0' took 0.29 ms (cached) +Module _efc_contact_jac_dense__locals__kernel_1686fae4 bea9b8b load on device 'cuda:0' took 0.35 ms (cached) +Module _efc_contact_update__locals__kernel_a67f25cf a67f25c load on device 'cuda:0' took 0.29 ms (cached) +Module mujoco_warp._src.passive a2eea36 load on device 'cuda:0' took 0.43 ms (cached) +Module _qfrc_passive_kernel__locals__kernel_887f05a4 887f05a load on device 'cuda:0' took 0.28 ms (cached) +Module _qfrc_smooth__locals__kernel_5d93552d 5d93552 load on device 'cuda:0' took 0.27 ms (cached) +Module mujoco_warp._src.support 462b66b load on device 'cuda:0' took 0.27 ms (cached) +Module _small_cholesky_factorize_solve_block__locals__kernel_32267892 9d7a2a3 load on device 'cuda:0' took 0.29 ms (cached) +Module _small_cholesky_factorize_solve_block__locals__kernel_bbb3b6d0 7e9304f load on device 'cuda:0' took 0.28 ms (cached) +Module _solve_init_dof__locals__kernel_08db194e 08db194 load on device 'cuda:0' took 0.27 ms (cached) +Module mujoco_warp._src.solver ab57257 load on device 'cuda:0' took 0.38 ms (cached) +Module _solve_init_jaref_kernel__locals__kernel_7c525cac 7c525ca load on device 'cuda:0' took 0.29 ms (cached) +Module mul_m_kernel__locals___mul_m_2eb0ef19 2eb0ef1 load on device 'cuda:0' took 0.27 ms (cached) +Module _update_constraint_efc__locals__kernel_01e3395a 01e3395 load on device 'cuda:0' took 0.27 ms (cached) +Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_1f63a94a 1f63a94 load on device 'cuda:0' took 0.28 ms (cached) +Module _update_gradient_zero_grad_dot__locals__kernel_eeeb13da eeeb13d load on device 'cuda:0' took 0.27 ms (cached) +Module _update_gradient_grad__locals__kernel_9654ebd0 9654ebd load on device 'cuda:0' took 0.26 ms (cached) +Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_42d95046 a1e3b32 load on device 'cuda:0' took 0.49 ms (cached) +Module _update_gradient_cholesky__locals__kernel_4248b06c d4ff837 load on device 'cuda:0' took 26.52 ms (cached) +Module _linesearch_iterative_kernel__locals__kernel_9e726ceb fad442d load on device 'cuda:0' took 0.45 ms (cached) +Module _update_constraint_efc__locals__kernel_81674199 8167419 load on device 'cuda:0' took 0.31 ms (cached) +Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_8e350d39 8e350d3 load on device 'cuda:0' took 0.28 ms (cached) +Module _update_gradient_zero_grad_dot__locals__kernel_ba7e8e2f ba7e8e2 load on device 'cuda:0' took 0.27 ms (cached) +Module _update_gradient_grad__locals__kernel_4f2bb7a9 4f2bb7a load on device 'cuda:0' took 0.26 ms (cached) +Module _update_gradient_cholesky__locals__kernel_4c171783 4827da2 load on device 'cuda:0' took 26.54 ms (cached) +Module _solve_done__locals__kernel_8d3e2217 8d3e221 load on device 'cuda:0' took 0.38 ms (cached) +Module mujoco_warp._src.derivative 380fbcc load on device 'cuda:0' took 0.54 ms (cached) +Module mujoco_warp._src.forward 9883e25 load on device 'cuda:0' took 0.40 ms (cached) +Module _next_time_builder__locals___next_time_1cb22d2e 1cb22d2 load on device 'cuda:0' took 0.30 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_2fb7f2f1 60674ca load on device 'cuda:0' took 0.51 ms (cached) +Module newton._src.solvers.implicit_mpm.rasterized_collisions.world_position_33f2b610 f78fcaa load on device 'cuda:0' took 0.37 ms (cached) +Module newton._src.solvers.implicit_mpm.rasterized_collisions 6d32b59 load on device 'cuda:0' took 0.40 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.collision_weight_field_8c7a1ed7 c6a78c2 load on device 'cuda:0' took 0.34 ms (cached) +Module _bsr_accumulate_triplet_values_89c51218 7baeb9a load on device 'cuda:0' took 0.31 ms (cached) +Module warp._src.fem.quadrature.quadrature.dyn.quadrature_point_element_indices_d52fa04e ff44114 load on device 'cuda:0' took 0.34 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_e081b3ef ccc78d5 load on device 'cuda:0' took 0.34 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_c147b205 39f0a31 load on device 'cuda:0' took 0.35 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_apic_9dd4ac18 813b0f2 load on device 'cuda:0' took 0.34 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_mass_5fda8e19 ac3dcd8 load on device 'cuda:0' took 0.36 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_fea4d8fd 16d7ac5 load on device 'cuda:0' took 0.36 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_yield_parameters_6dcf6251 7dc048e load on device 'cuda:0' took 0.43 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_88c9ef37 0303b67 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_active_fraction_a5404331 06e1637 load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_99ecc7cf a3c8b39 load on device 'cuda:0' took 0.45 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_7c94db4e 0446aed load on device 'cuda:0' took 0.37 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_a649643f 454191e load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_collider_fraction_a5258c95 ac7d7fc load on device 'cuda:0' took 0.39 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_bdb78fbc 7f792ef load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.strain_delta_form_622b62c3 f655226 load on device 'cuda:0' took 0.34 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_6d221857 31482f3 load on device 'cuda:0' took 0.37 ms (cached) +Module warp.fem.integrate._identity_field_b5aa3f34 0ab4782 load on device 'cuda:0' took 0.50 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_particle_stress_d3464583 ca2f662 load on device 'cuda:0' took 0.34 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_b79d8313 7d87f73 load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.mass_form_bd277bc5 45a767e load on device 'cuda:0' took 0.35 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_f6d3cfb2 ad2be72 load on device 'cuda:0' took 0.36 ms (cached) +Module warp.sparse 52bbb2e load on device 'cuda:0' took 0.54 ms (cached) +Module _bsr_assign_copy_blocks_25808539 9673674 load on device 'cuda:0' took 0.31 ms (cached) +Module compute_eigenvalues_70d01c86 29a61fe load on device 'cuda:0' took 0.29 ms (cached) +Module inverse_scale_vector_e40af5d0 f052608 load on device 'cuda:0' took 0.31 ms (cached) +Module newton._src.solvers.implicit_mpm.contact_solver_kernels f1493cd load on device 'cuda:0' took 0.44 ms (cached) +Module _bsr_transpose_values_1d188087 aa92b67 load on device 'cuda:0' took 0.45 ms (cached) +Module make_bsr_mv_tiled_kernel__locals__bsr_mv_tiled_kernel_17fd668b 3f91fc9 load on device 'cuda:0' took 0.36 ms (cached) +Module make_bsr_mv_kernel__locals__bsr_mv_kernel_37b51eee bf7159b load on device 'cuda:0' took 0.32 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels 42c788a load on device 'cuda:0' took 0.71 ms (cached) +Module newton._src.solvers.implicit_mpm.solve_rheology 65415ca load on device 'cuda:0' took 0.42 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels c7bb17e load on device 'cuda:0' took 0.64 ms (cached) +Module newton._src.solvers.implicit_mpm.rheology_solver_kernels.dyn.gs_solve_kernel_impl_ba42a0de 8d2ccee load on device 'cuda:0' took 0.33 ms (cached) +Module newton._src.solvers.implicit_mpm.solve_rheology 92bb71d load on device 'cuda:0' took 0.52 ms (cached) +Module warp.fem.space.partition 4c5b150 load on device 'cuda:0' took 0.33 ms (cached) +Module scatter_field_dof_values_ec638f93 bde0ade load on device 'cuda:0' took 0.33 ms (cached) +Module warp.fem.integrate._identity_field_15c95b83 0df86d1 load on device 'cuda:0' took 0.35 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.update_particle_strains_40d97e08 13b8e25 load on device 'cuda:0' took 0.39 ms (cached) +Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.advect_particles_2f248551 bfedeec load on device 'cuda:0' took 0.38 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_380959cb bb9f71e load on device 'cuda:0' took 0.49 ms (cached) +Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_ec304b85 25a078a load on device 'cuda:0' took 0.36 ms (cached) +{"soil": "loam", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.985, "loads": [{"carrier": 0, "departed_s": 129.8, "load_kg": 10774, "loading_s": 129.8, "passes": 7}, {"carrier": 0, "departed_s": 329.7, "load_kg": 10597, "loading_s": 142.8, "passes": 8}, {"carrier": 0, "departed_s": 537.8, "load_kg": 10503, "loading_s": 150.9, "passes": 8}, {"carrier": 0, "departed_s": 729.9, "load_kg": 11383, "loading_s": 134.8, "passes": 7}, {"carrier": 0, "departed_s": 899.8, "load_kg": 10886, "loading_s": 112.0, "passes": 6}, {"carrier": 0, "departed_s": 1097.9, "load_kg": 9408, "loading_s": 139.8, "passes": 8}], "trips": [{"depart_t": 129.82, "stages": {"loading": 129.82, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.55, "lower": 5.0, "return": 5.1, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 154, "away_s": 57.1}, {"depart_t": 329.72, "stages": {"loading": 142.8, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.65, "lower": 5.0, "return": 5.08, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 171, "away_s": 57.18}, {"depart_t": 537.8, "stages": {"loading": 150.9, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.82, "lower": 5.0, "return": 5.05, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 200, "away_s": 57.32}, {"depart_t": 729.9, "stages": {"loading": 134.78, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.72, "lower": 5.0, "return": 4.82, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 232, "away_s": 57.98}, {"depart_t": 899.85, "stages": {"loading": 111.97, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.02, "lower": 5.0, "return": 4.73, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 213, "away_s": 58.2}, {"depart_t": 1097.87, "stages": {"loading": 139.82, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.5, "lower": 5.0, "return": 4.87, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 281, "away_s": 57.81}], "delivered_t": 62.3, "loaded_t": 63.78, "loaded_t_per_hour": 153.1, "mean_departure_interval_s": 193.6, "t_per_hour": 149.5, "mean_load_kg": 10592.0, "mean_loading_s": 135.0, "carry_back_kg": [154, 171, 200, 232, 213, 281], "mean_away_s": 57.6, "excavator_wait_s": 244.1, "passes": 49, "spoil_settled_t": 61.87, "lost_particles": 2040, "pool_short": 0, "skipped": [], "carrier_wait_at_dump_s": 0.0, "carrier_wait_to_leave_s": 0.0, "carrier_wait_to_load_s": 0.0, "spot_empty_s": 345.6, "pit_left_t": 101.9, "pit_done": true, "faces": [[0.0, 0.0], [-20.0, 0.0], [10.0, 0.0], [-30.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-40.0, 0.0], [-30.0, 0.0], [-30.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-30.0, 0.0], [10.0, 0.0], [10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [0.0, 0.0], [10.0, 0.0], [0.0, 0.0]], "curl_gain_kg": 133, "mean_carried_kg": 1277, "mean_dumped_kg": 1148, "thin_passes": 3, "pass_log": [{"pass": 0, "t": 0.0, "face": [0.0, 0.0, 1.39], "dig_max_kg": 1111, "early_curl": true, "skips": 0, "at_swing_kg": 1071, "carried_kg": 1158, "left_kg": 14}, {"pass": 1, "t": 14.6, "face": [-20.0, 0.0, 1.37], "dig_max_kg": 1174, "early_curl": true, "skips": 0, "at_swing_kg": 1133, "carried_kg": 1164, "left_kg": 21}, {"pass": 2, "t": 29.7, "face": [10.0, 0.0, 1.35], "dig_max_kg": 1300, "early_curl": true, "skips": 0, "at_swing_kg": 1267, "carried_kg": 1354, "left_kg": 50}, {"pass": 3, "t": 45.0, "face": [-30.0, 0.0, 1.24], "dig_max_kg": 1283, "early_curl": true, "skips": 0, "at_swing_kg": 1232, "carried_kg": 1317, "left_kg": 32}, {"pass": 4, "t": 60.1, "face": [-10.0, 0.0, 1.2], "dig_max_kg": 1256, "early_curl": true, "skips": 0, "at_swing_kg": 994, "carried_kg": 1205, "left_kg": 101}, {"pass": 5, "t": 75.8, "face": [20.0, 0.0, 1.13], "dig_max_kg": 1426, "early_curl": true, "skips": 0, "at_swing_kg": 1293, "carried_kg": 1385, "left_kg": 380}, {"pass": 6, "t": 95.8, "face": [0.0, 0.0, 0.75], "dig_max_kg": 1300, "early_curl": false, "skips": 0, "at_swing_kg": 1269, "carried_kg": 1430, "left_kg": 376}, {"pass": 7, "t": 115.2, "face": [0.0, 0.0, 1.18], "dig_max_kg": 1393, "early_curl": true, "skips": 0, "at_swing_kg": 1306, "carried_kg": 1402, "left_kg": 70}, {"pass": 8, "t": 131.1, "face": [-20.0, 0.0, 0.68], "dig_max_kg": 1320, "early_curl": false, "skips": 0, "at_swing_kg": 1312, "carried_kg": 1261, "left_kg": 13}, {"pass": 9, "t": 194.4, "face": [-20.0, 0.0, 1.14], "dig_max_kg": 1363, "early_curl": true, "skips": 0, "at_swing_kg": 1063, "carried_kg": 1057, "left_kg": 17}, {"pass": 10, "t": 210.2, "face": [-10.0, 0.0, 0.57], "dig_max_kg": 1155, "early_curl": false, "skips": 0, "at_swing_kg": 1155, "carried_kg": 1322, "left_kg": 201}, {"pass": 11, "t": 225.3, "face": [-10.0, 0.0, 1.16], "dig_max_kg": 1387, "early_curl": true, "skips": 0, "at_swing_kg": 974, "carried_kg": 973, "left_kg": 31}, {"pass": 12, "t": 241.0, "face": [-40.0, 0.0, 0.52], "dig_max_kg": 988, "early_curl": false, "skips": 0, "at_swing_kg": 638, "carried_kg": 690, "left_kg": 53}, {"pass": 13, "t": 256.3, "face": [-30.0, 0.0, 0.55], "dig_max_kg": 1245, "early_curl": false, "skips": 0, "at_swing_kg": 1232, "carried_kg": 1261, "left_kg": 49}, {"pass": 14, "t": 271.4, "face": [-30.0, 0.0, 1.14], "dig_max_kg": 1567, "early_curl": false, "skips": 0, "at_swing_kg": 1518, "carried_kg": 1694, "left_kg": 426}, {"pass": 15, "t": 290.2, "face": [20.0, 0.0, 0.48], "dig_max_kg": 1523, "early_curl": false, "skips": 0, "at_swing_kg": 873, "carried_kg": 1054, "left_kg": 259}, {"pass": 16, "t": 311.8, "face": [20.0, 0.0, 0.96], "dig_max_kg": 1410, "early_curl": false, "skips": 0, "at_swing_kg": 1229, "carried_kg": 1239, "left_kg": 216}, {"pass": 17, "t": 331.0, "face": [-30.0, 0.0, 0.47], "dig_max_kg": 1570, "early_curl": false, "skips": 0, "at_swing_kg": 1750, "carried_kg": 1680, "left_kg": 24}, {"pass": 18, "t": 395.3, "face": [10.0, 0.0, 0.43], "dig_max_kg": 1570, "early_curl": false, "skips": 0, "at_swing_kg": 847, "carried_kg": 986, "left_kg": 112}, {"pass": 19, "t": 411.7, "face": [10.0, 0.0, 1.09], "dig_max_kg": 1432, "early_curl": false, "skips": 0, "at_swing_kg": 1382, "carried_kg": 1487, "left_kg": 25}, {"pass": 20, "t": 428.3, "face": [20.0, 0.0, 0.45], "dig_max_kg": 1402, "early_curl": false, "skips": 0, "at_swing_kg": 1258, "carried_kg": 1427, "left_kg": 64}, {"pass": 21, "t": 446.9, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1264, "early_curl": false, "skips": 0, "at_swing_kg": 423, "carried_kg": 512, "left_kg": 49}, {"pass": 22, 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a/phase2/logs/haul_quick25_lane_base_clay_1.json b/phase2/logs/haul_quick25_lane_base_clay_1.json new file mode 100644 index 0000000..7279c90 --- /dev/null +++ b/phase2/logs/haul_quick25_lane_base_clay_1.json @@ -0,0 +1 @@ +{"soil": "clay", "carriers": 1, "sim_s": 527.8, "stopped_after_passes": 25, "realtime_factor": 0.911, "loads": [{"carrier": 0, "departed_s": 153.8, "load_kg": 11044, "loading_s": 153.8, "passes": 8}, {"carrier": 0, "departed_s": 412.6, "load_kg": 10756, "loading_s": 200.8, "passes": 11}], "trips": [{"depart_t": 153.78, "stages": {"loading": 153.78, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.83, "lower": 5.0, "return": 4.78, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 264, "away_s": 58.07}, {"depart_t": 412.63, "stages": {"loading": 200.78, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.48, "lower": 5.0, "return": 4.62, "turn to load": 7.22, "reverse in": 8.8}, 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mode 100644 index 0000000..bfb9b96 --- /dev/null +++ b/phase2/logs/haul_quick25_lane_base_loam_1.json @@ -0,0 +1 @@ +{"soil": "loam", "carriers": 1, "sim_s": 512.4, "stopped_after_passes": 25, "realtime_factor": 0.917, "loads": [{"carrier": 0, "departed_s": 128.2, "load_kg": 11260, "loading_s": 128.2, "passes": 7}, {"carrier": 0, "departed_s": 306.4, "load_kg": 11097, "loading_s": 121.2, "passes": 7}, {"carrier": 0, "departed_s": 510.2, "load_kg": 11770, "loading_s": 146.6, "passes": 8}], "trips": [{"depart_t": 128.2, "stages": {"loading": 128.2, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.42, "lower": 5.0, "return": 5.13, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 328, "away_s": 57.0}, {"depart_t": 306.37, "stages": {"loading": 121.17, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.75, "lower": 5.0, "return": 5.07, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 67, 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b/phase2/logs/haul_quick25_lane_fix_clay_1.json new file mode 100644 index 0000000..064856e --- /dev/null +++ b/phase2/logs/haul_quick25_lane_fix_clay_1.json @@ -0,0 +1 @@ +{"soil": "clay", "carriers": 1, "sim_s": 553.9, "stopped_after_passes": 25, "realtime_factor": 0.913, "loads": [{"carrier": 0, "departed_s": 182.7, "load_kg": 10449, "loading_s": 182.7, "passes": 9}, {"carrier": 0, "departed_s": 415.4, "load_kg": 9711, "loading_s": 174.2, "passes": 9}], "trips": [{"depart_t": 182.7, "stages": {"loading": 182.7, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.42, "lower": 5.0, "return": 4.63, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 241, "away_s": 58.5}, {"depart_t": 415.4, "stages": {"loading": 174.2, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.72, "lower": 5.0, "return": 4.55, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 164, "away_s": 58.72}], "delivered_t": 19.75, 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b/phase2/logs/haul_quick25_lane_rest_clay_1.json new file mode 100644 index 0000000..a77b5e3 --- /dev/null +++ b/phase2/logs/haul_quick25_lane_rest_clay_1.json @@ -0,0 +1 @@ +{"soil": "clay", "carriers": 1, "sim_s": 535.5, "stopped_after_passes": 25, "realtime_factor": 0.925, "loads": [{"carrier": 0, "departed_s": 174.5, "load_kg": 11195, "loading_s": 174.5, "passes": 9}, {"carrier": 0, "departed_s": 382.3, "load_kg": 10867, "loading_s": 149.5, "passes": 8}], "trips": [{"depart_t": 174.48, "stages": {"loading": 174.48, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.13, "lower": 5.0, "return": 4.7, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 340, "away_s": 58.29}, {"depart_t": 382.28, "stages": {"loading": 149.52, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 6.08, "lower": 5.0, "return": 4.45, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 332, "away_s": 58.99}], "delivered_t": 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"t": 418.5, "face": [-10.0, 0.0, 1.16], "dig_max_kg": 1679, "early_curl": true, "skips": 0, "at_swing_kg": 1461, "carried_kg": 1419, "left_kg": 62}, {"pass": 21, "t": 482.0, "face": [-10.0, 0.0, 0.53], "dig_max_kg": 1596, "early_curl": false, "skips": 0, "at_swing_kg": 1591, "carried_kg": 1612, "left_kg": 27}, {"pass": 22, "t": 499.5, "face": [-10.0, 0.0, 1.06], "dig_max_kg": 1596, "early_curl": false, "skips": 0, "at_swing_kg": 1070, "carried_kg": 1106, "left_kg": 9}, {"pass": 23, "t": 515.6, "face": [-20.0, 0.0, 0.52], "dig_max_kg": 1524, "early_curl": false, "skips": 0, "at_swing_kg": 1515, "carried_kg": 1493, "left_kg": 42}, {"pass": 24, "t": 531.3, "face": [-20.0, 0.0, 1.0], "dig_max_kg": 1230, "early_curl": false, "skips": 0, "at_swing_kg": 1215, "carried_kg": 1341, "left_kg": 87}], "dozer": {"passes": 8, "push_m": 57.22, "work_MJ": 0.84, "load_lifts": 15, "lifts_raised": 1, "parked_s": 330.33, "working_s": 219.35, "peak_kN": 80.85, "slip_s": 0.65, "futile_passes": 1, "mean_push_kN": [23.1, 7.2, 13.8, 19.3, 4.5, 18.6, 13.2, 4.4]}, "spread": {"design_z_above_ground": 0.6, "area_m2": 61.2, "covered_m2": 42.3, "rms_from_grade_m": 0.319, "max_above_grade_m": 0.85, "at_grade_fraction": 0.2, "unspread_m3": 0.64}} diff --git a/phase2/logs/haul_quick25_lane_rest_loam_3.json b/phase2/logs/haul_quick25_lane_rest_loam_3.json new file mode 100644 index 0000000..8d2c4af --- /dev/null +++ b/phase2/logs/haul_quick25_lane_rest_loam_3.json @@ -0,0 +1 @@ +{"soil": "loam", "carriers": 1, "sim_s": 514.9, "stopped_after_passes": 25, "realtime_factor": 0.909, "loads": [{"carrier": 0, "departed_s": 131.1, "load_kg": 10509, "loading_s": 131.1, "passes": 7}, {"carrier": 0, "departed_s": 328.8, "load_kg": 11343, "loading_s": 140.8, "passes": 8}, {"carrier": 0, "departed_s": 513.2, "load_kg": 10683, "loading_s": 126.9, "passes": 7}], "trips": [{"depart_t": 131.15, "stages": {"loading": 131.15, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.22, "lower": 5.0, "return": 5.18, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 222, "away_s": 56.85}, {"depart_t": 328.8, "stages": {"loading": 140.8, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.07, "lower": 5.0, "return": 4.98, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 236, "away_s": 57.5}], "delivered_t": 21.39, "loaded_t": 32.53, "loaded_t_per_hour": 227.5, "mean_departure_interval_s": 191.1, "t_per_hour": 149.6, "mean_load_kg": 10845.0, "mean_loading_s": 132.9, "carry_back_kg": [222, 236], "mean_away_s": 57.2, "excavator_wait_s": 98.0, "passes": 25, "spoil_settled_t": 21.21, "lost_particles": 1565, "pool_short": 0, "skipped": [], "carrier_wait_at_dump_s": 0.0, "carrier_wait_to_leave_s": 0.0, "carrier_wait_to_load_s": 0.0, "spot_empty_s": 116.1, "pit_left_t": 142.0, "pit_done": false, "faces": [[0.0, 0.0], [-20.0, 0.0], [10.0, 0.0], [-30.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-40.0, 0.0], [-30.0, 0.0], [-30.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-20.0, 0.0]], "curl_gain_kg": 81, "curl_tears": 0, "mean_carried_kg": 1281, "mean_dumped_kg": 1172, "thin_passes": 1, "pass_log": [{"pass": 0, "t": 0.0, "face": [0.0, 0.0, 1.39], "dig_max_kg": 1110, "early_curl": true, "skips": 0, "at_swing_kg": 1082, "carried_kg": 1151, "left_kg": 73}, {"pass": 1, "t": 14.5, "face": [-20.0, 0.0, 1.37], "dig_max_kg": 1169, "early_curl": true, "skips": 0, "at_swing_kg": 1133, "carried_kg": 1173, "left_kg": 18}, {"pass": 2, "t": 29.3, "face": [10.0, 0.0, 1.36], "dig_max_kg": 1214, "early_curl": true, "skips": 0, "at_swing_kg": 1164, "carried_kg": 1265, "left_kg": 15}, {"pass": 3, "t": 44.5, "face": [-30.0, 0.0, 1.25], "dig_max_kg": 1269, "early_curl": true, "skips": 0, "at_swing_kg": 1230, "carried_kg": 1349, "left_kg": 17}, {"pass": 4, "t": 59.6, "face": [-10.0, 0.0, 1.24], "dig_max_kg": 1298, "early_curl": true, "skips": 0, "at_swing_kg": 1064, "carried_kg": 1315, "left_kg": 16}, {"pass": 5, "t": 75.3, "face": [20.0, 0.0, 1.14], "dig_max_kg": 1396, "early_curl": true, "skips": 0, "at_swing_kg": 1328, "carried_kg": 1337, "left_kg": 239}, {"pass": 6, "t": 95.6, "face": [0.0, 0.0, 0.72], "dig_max_kg": 1181, "early_curl": false, "skips": 0, "at_swing_kg": 1175, "carried_kg": 1337, "left_kg": 305}, {"pass": 7, "t": 115.0, "face": [0.0, 0.0, 1.17], "dig_max_kg": 1367, "early_curl": true, "skips": 0, "at_swing_kg": 1295, "carried_kg": 1403, "left_kg": 268}, {"pass": 8, "t": 132.4, "face": [-20.0, 0.0, 0.68], "dig_max_kg": 1162, "early_curl": false, "skips": 0, "at_swing_kg": 1318, "carried_kg": 1268, "left_kg": 76}, {"pass": 9, "t": 195.4, "face": [-20.0, 0.0, 1.15], "dig_max_kg": 1343, "early_curl": true, "skips": 0, "at_swing_kg": 1028, "carried_kg": 1098, "left_kg": 48}, {"pass": 10, "t": 211.3, "face": [-10.0, 0.0, 0.69], "dig_max_kg": 1439, "early_curl": false, "skips": 0, "at_swing_kg": 1434, "carried_kg": 1603, "left_kg": 47}, {"pass": 11, "t": 226.7, "face": [-10.0, 0.0, 1.13], "dig_max_kg": 1439, "early_curl": true, "skips": 0, "at_swing_kg": 1318, "carried_kg": 1371, "left_kg": 50}, {"pass": 12, "t": 243.3, "face": [20.0, 0.0, 0.5], "dig_max_kg": 1323, "early_curl": false, "skips": 0, "at_swing_kg": 886, "carried_kg": 1070, "left_kg": 71}, {"pass": 13, "t": 261.8, "face": [20.0, 0.0, 0.96], "dig_max_kg": 1305, "early_curl": false, "skips": 0, "at_swing_kg": 1061, "carried_kg": 1011, "left_kg": 92}, {"pass": 14, "t": 279.3, "face": [-40.0, 0.0, 0.5], "dig_max_kg": 1073, "early_curl": false, "skips": 0, "at_swing_kg": 595, "carried_kg": 650, "left_kg": 253}, {"pass": 15, "t": 297.1, "face": [-30.0, 0.0, 0.59], "dig_max_kg": 1334, "early_curl": false, "skips": 0, "at_swing_kg": 1286, "carried_kg": 1340, "left_kg": 262}, {"pass": 16, "t": 314.7, "face": [-30.0, 0.0, 1.06], "dig_max_kg": 1457, "early_curl": false, "skips": 0, "at_swing_kg": 1342, "carried_kg": 1457, "left_kg": 47}, {"pass": 17, "t": 330.1, "face": [-20.0, 0.0, 0.51], "dig_max_kg": 1395, "early_curl": false, "skips": 0, "at_swing_kg": 1444, "carried_kg": 1401, "left_kg": 23}, {"pass": 18, "t": 393.7, "face": [-20.0, 0.0, 1.09], "dig_max_kg": 1371, "early_curl": false, "skips": 0, "at_swing_kg": 1116, "carried_kg": 1116, "left_kg": 35}, {"pass": 19, "t": 410.3, "face": [0.0, 0.0, 0.48], "dig_max_kg": 1165, "early_curl": false, "skips": 0, "at_swing_kg": 1165, "carried_kg": 1343, "left_kg": 36}, {"pass": 20, "t": 426.3, "face": [0.0, 0.0, 1.1], "dig_max_kg": 1481, "early_curl": false, "skips": 0, "at_swing_kg": 1368, "carried_kg": 1365, "left_kg": 17}, {"pass": 21, "t": 442.6, "face": [-10.0, 0.0, 0.59], "dig_max_kg": 1618, "early_curl": false, "skips": 0, "at_swing_kg": 1606, "carried_kg": 1633, "left_kg": 16}, {"pass": 22, "t": 459.5, "face": [-10.0, 0.0, 1.15], "dig_max_kg": 1618, "early_curl": true, "skips": 0, "at_swing_kg": 1249, "carried_kg": 1349, "left_kg": 82}, {"pass": 23, "t": 475.9, "face": [0.0, 0.0, 0.66], "dig_max_kg": 1451, "early_curl": false, "skips": 0, "at_swing_kg": 1441, "carried_kg": 1489, "left_kg": 226}, {"pass": 24, "t": 494.8, "face": [0.0, 0.0, 1.09], "dig_max_kg": 1451, "early_curl": false, "skips": 0, "at_swing_kg": 1153, "carried_kg": 1134, "left_kg": 385}], "dozer": {"passes": 4, "push_m": 31.84, "work_MJ": 0.58, "load_lifts": 13, "lifts_raised": 0, "parked_s": 384.73, "working_s": 130.17, "peak_kN": 73.76, "slip_s": 0.65, "futile_passes": 0, "mean_push_kN": [22.9, 11.2, 16.4, 18.7]}, "spread": {"design_z_above_ground": 0.3, "area_m2": 61.2, "covered_m2": 44.3, "rms_from_grade_m": 0.149, "max_above_grade_m": 0.84, "at_grade_fraction": 0.39, "unspread_m3": 0.87}} From 3c460eff3533cffc9acba80da1ce377a598e7ccb Mon Sep 17 00:00:00 2001 From: Rahul Tomar Date: Fri, 6 Nov 2026 10:47:49 +0100 Subject: [PATCH 2/2] README excavator figures after calibration; three haul logs made valid JSON The README still gave the spec swing (13.3 min^-1, 68.9 kN m) and the pre-calibration cycle (15-18 s, about 1 t per pass). It now gives the PWRI-calibrated swing, marks the swing torque and bucket offset as provisional, and the current pass times and payloads. haul_bench_lane_fix_long_* had Warp's startup output above the result line. Co-Authored-By: Claude Opus 5.5 --- README.md | 2 +- ...aul_bench_lane_fix_long_clay_1carrier.json | 116 ------------------ ...bench_lane_fix_long_dry-sand_1carrier.json | 114 ----------------- ...aul_bench_lane_fix_long_loam_1carrier.json | 116 ------------------ 4 files changed, 1 insertion(+), 347 deletions(-) diff --git a/README.md b/README.md index 49105b5..a1ba2a5 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,7 @@ Initiated and maintained by **[DigitalTwin Technology GmbH](https://www.digitalt | Site | 128 m terrain with pad, haul road, stockpile and a 2.5 m excavation pit; 40+ physics props from NVIDIA SimReady (CC BY 4.0) with checked masses and colliders | | Real machines (open-licensed) | Hitachi ZX200 excavator, IHI (Kato) IC120 crawler carrier, Komatsu D37PXi dozer (articulated, from the PWRI OPERA project, Apache-2.0); 35 m tower crane, cones, barrels and jersey barriers (Gazebo, CC0) | | Soil | The pit filled with 2 m of MPM soil (Newton implicit MPM) on the GPU, two-way coupled to the machine, in four presets switchable live: dry sand, moist sand, loam and clay. Cohesion is checked against vertical-cut stability and McKyes cutting forces, and dug clods break up to their remoulded strength; only soil near the bucket is particles, resting soil elsewhere is a heightfield, and cut faces slump to the angle of repose. The sand steps at 30 Hz and the machine at 60 Hz; the dig cycle runs at 1.3× real time, and a trench dug in one lane (1.2×) reaches 1.7 m with 43–45° sides | -| Excavator | The real Hitachi ZX200 (OPERA URDF geometry and joint limits, curved bucket with teeth) driven by its real hydraulic cylinders (Hitachi bores, 34.3 MPa main relief and port reliefs, pump flow shared between functions, bucket four-bar linkage) and swing motor (13.3 min⁻¹, 68.9 kN·m, braking on its cross-over reliefs), so force and speed vary with pose and the machine slows and stalls under load. Digging force at the teeth 149 kN against 151–158 kN published. Full dig–swing–load cycle into a dump truck, lifting while swinging like an operator: 15–18 s and about 1 t per pass | +| Excavator | The real Hitachi ZX200 (OPERA URDF geometry and joint limits, curved bucket with teeth) driven by its real hydraulic cylinders (Hitachi bores, 34.3 MPa main relief and port reliefs, pump flow shared between functions, bucket four-bar linkage) and swing motor (braking on its cross-over reliefs, with friction), so force and speed vary with pose and the machine slows and stalls under load. Joint speeds per direction, swing speed (11.2 min⁻¹ at 1800 min⁻¹ eco) and swing friction are calibrated against PWRI's step tests on a real ZX200 (ISARC 2025); the swing torque (77.9 kN·m) and the bucket's angle offset are provisional ([phase2/RESULTS.md](phase2/RESULTS.md)). Digging force at the teeth 149 kN against 151–158 kN published. Full dig–swing–load cycle into a dump truck, lifting while swinging like an operator: 16–19 s per pass in a trench, about 20–21 s and 0.7–1.3 t per pass loading the carrier (clay lowest) | | Haul cycle | An IHI IC120 crawler carrier (PWRI OPERA model) is loaded by the excavator, drives the load to a spoil area, tips it out as MPM soil and comes back. The operator model sends it off when full, waits while it is away, and spreads passes along the vessel; sticky loads are shaken out. One excavator and one carrier deliver 124–181 t/h depending on soil, with the excavator waiting 16–26 % of the time. With two carriers (`--carriers 2`), they take turns at the excavator, a waiting place and gates keep them apart on the one-lane road, and loading goes up 12–27 % over 10 minutes. Over 25 minutes the gain holds at 19 % while the excavator has soil within reach ([phase2/RESULTS.md](phase2/RESULTS.md)) | | Spoil spreading | A Komatsu D37PXi dozer (PWRI OPERA model) spreads each dumped load in lanes fanned out from the dump heap and builds the fill layer by layer (0.3 m lifts), its blade pushing MPM soil under grade and load control as on the real machine; the tracks slip above traction. It works while the carrier is away and parks before it comes back, so the carrier never waits; mean blade forces of 5–28 kN per pass match the sliding-load estimate ([phase2/RESULTS.md](phase2/RESULTS.md)) | | Browser client | Levers and keyboard control, cylinder pressure gauges, stall warnings, live truck load, the carrier, the dozer and the spoil area, a "Send carrier" button; 60 fps | diff --git a/phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json b/phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json index bd24601..d27619c 100644 --- a/phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json +++ b/phase2/logs/haul_bench_lane_fix_long_clay_1carrier.json @@ -1,117 +1 @@ -Warp 1.19.0 initialized: - CUDA Toolkit 13.4, Driver 13.0 - Devices: - "cpu" : "aarch64" - "cuda:0" : "NVIDIA GB10" (122 GiB, sm_121, mempool enabled) - Kernel cache: - /home/dttai1/.cache/warp/1.19.0 -Module validate_and_correct_inertia_kernel_0dd217c5 0dd217c load on device 'cuda:0' took 0.72 ms (cached) -Module newton._src.geometry.bvh c108a72 load on device 'cuda:0' took 0.49 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_model 3bb21b4 load on device 'cuda:0' took 0.49 ms (cached) -Module warp.fem.geometry.nanogrid 8a477eb load on device 'cuda:0' took 0.53 ms (cached) -Module warp._src.fem.quadrature.pic_quadrature.dyn.bin_particles_72b36c27 1274abb load on device 'cuda:0' took 0.58 ms (cached) -Module warp.fem.utils 5050414 load on device 'cuda:0' took 0.51 ms (cached) -Module warp._src.fem.quadrature.pic_quadrature.dyn.finalize_cell_particle_data_6a72a038 588425d load on device 'cuda:0' took 0.47 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_60813d26 264deb8 load on device 'cuda:0' took 0.43 ms (cached) -Module warp.fem.space.restriction 13859e3 load on device 'cuda:0' took 0.29 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_9775d3a0 c659439 load on device 'cuda:0' took 0.35 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_8688d243 72a45d0 load on device 'cuda:0' took 0.29 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.dyn.cell_color_e837866a 03aea13 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels 309f94e load on device 'cuda:0' took 0.41 ms (cached) -Module warp._src.coloring 5014867 load on device 'cpu' took 0.87 ms (cached) -Module newton._src.solvers.mujoco.kernels 8cde23f load on device 'cuda:0' took 2.79 ms (cached) -Module mujoco_warp._src.set_const e7f6e53 load on device 'cuda:0' took 0.63 ms (cached) -Module mujoco_warp._src.smooth 6ec87e9 load on device 'cuda:0' took 1.38 ms (cached) -Module _small_cholesky_factorize_block__locals__kernel_688128d2 3a1ff3a load on device 'cuda:0' took 0.31 ms (cached) -Module _small_cholesky_factorize_block__locals__kernel_76d25309 797032f load on device 'cuda:0' took 0.28 ms (cached) -Module _small_cholesky_solve_block__locals__kernel_1e3f1516 c492a5b load on device 'cuda:0' took 0.28 ms (cached) -Module _small_cholesky_solve_block__locals__kernel_b7425cff b9bad6a load on device 'cuda:0' took 0.26 ms (cached) -Module create_eval_articulation_fk_tile__locals__eval_articulation_fk_tile_b12ad9e5 33f5a01 load on device 'cuda:0' took 0.51 ms (cached) -Module soil_zone 8795928 load on device 'cuda:0' took 0.73 ms (cached) -Module map_mul 4da365f load on device 'cuda:0' took 0.29 ms (cached) -Module soil_server d8198c9 load on device 'cuda:0' took 0.46 ms (cached) -Module excavator_server b3143cf load on device 'cuda:0' took 0.40 ms (cached) -Module newton._src.sim.collide f8ad45d load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.geometry.broad_phase_nxn 92014d2 load on device 'cuda:0' took 0.30 ms (cached) -Module narrow_phase_primitive_write_contact_False_False_False 3cf6427 load on device 'cuda:0' took 0.32 ms (cached) -Module narrow_phase_gjk_mpr_True_False_write_contact_support_map_lean_post_process_minkowski_only 7d090a1 load on device 'cuda:0' took 0.41 ms (cached) -Module newton._src.geometry.narrow_phase dde4959 load on device 'cuda:0' took 0.42 ms (cached) -Module mujoco_warp._src.constraint 9feb269 load on device 'cuda:0' took 0.29 ms (cached) -Module _friction_dof__locals__kernel_de3fc701 de3fc70 load on device 'cuda:0' took 0.55 ms (cached) -Module _limit_slide_hinge__locals__kernel_0914a21e 0914a21 load on device 'cuda:0' took 0.31 ms (cached) -Module _efc_contact_init__locals__kernel_2fbed541 2fbed54 load on device 'cuda:0' took 0.29 ms (cached) -Module _efc_contact_jac_dense__locals__kernel_1686fae4 bea9b8b load on device 'cuda:0' took 0.35 ms (cached) -Module _efc_contact_update__locals__kernel_a67f25cf a67f25c load on device 'cuda:0' took 0.29 ms (cached) -Module mujoco_warp._src.passive a2eea36 load on device 'cuda:0' took 0.42 ms (cached) -Module _qfrc_passive_kernel__locals__kernel_887f05a4 887f05a load on device 'cuda:0' took 0.28 ms (cached) -Module _qfrc_smooth__locals__kernel_5d93552d 5d93552 load on device 'cuda:0' took 0.27 ms (cached) -Module mujoco_warp._src.support 462b66b load on device 'cuda:0' took 0.26 ms (cached) -Module _small_cholesky_factorize_solve_block__locals__kernel_32267892 9d7a2a3 load on device 'cuda:0' took 0.29 ms (cached) -Module _small_cholesky_factorize_solve_block__locals__kernel_bbb3b6d0 7e9304f load on device 'cuda:0' took 0.28 ms (cached) -Module _solve_init_dof__locals__kernel_08db194e 08db194 load on device 'cuda:0' took 0.35 ms (cached) -Module mujoco_warp._src.solver ab57257 load on device 'cuda:0' took 0.37 ms (cached) -Module _solve_init_jaref_kernel__locals__kernel_7c525cac 7c525ca load on device 'cuda:0' took 0.28 ms (cached) -Module mul_m_kernel__locals___mul_m_2eb0ef19 2eb0ef1 load on device 'cuda:0' took 0.26 ms (cached) -Module _update_constraint_efc__locals__kernel_01e3395a 01e3395 load on device 'cuda:0' took 0.27 ms (cached) -Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_1f63a94a 1f63a94 load on device 'cuda:0' took 0.29 ms (cached) -Module _update_gradient_zero_grad_dot__locals__kernel_eeeb13da eeeb13d load on device 'cuda:0' took 0.27 ms (cached) -Module _update_gradient_grad__locals__kernel_9654ebd0 9654ebd load on device 'cuda:0' took 0.26 ms (cached) -Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_42d95046 a1e3b32 load on device 'cuda:0' took 0.49 ms (cached) -Module _update_gradient_cholesky__locals__kernel_4248b06c d4ff837 load on device 'cuda:0' took 26.18 ms (cached) -Module _linesearch_iterative_kernel__locals__kernel_9e726ceb fad442d load on device 'cuda:0' took 0.55 ms (cached) -Module _update_constraint_efc__locals__kernel_81674199 8167419 load on device 'cuda:0' took 0.31 ms (cached) -Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_8e350d39 8e350d3 load on device 'cuda:0' took 0.29 ms (cached) -Module _update_gradient_zero_grad_dot__locals__kernel_ba7e8e2f ba7e8e2 load on device 'cuda:0' took 0.27 ms (cached) -Module _update_gradient_grad__locals__kernel_4f2bb7a9 4f2bb7a load on device 'cuda:0' took 0.26 ms (cached) -Module _update_gradient_cholesky__locals__kernel_4c171783 4827da2 load on device 'cuda:0' took 26.16 ms (cached) -Module _solve_done__locals__kernel_8d3e2217 8d3e221 load on device 'cuda:0' took 0.46 ms (cached) -Module mujoco_warp._src.derivative 380fbcc load on device 'cuda:0' took 0.54 ms (cached) -Module mujoco_warp._src.forward 9883e25 load on device 'cuda:0' took 0.39 ms (cached) -Module _next_time_builder__locals___next_time_1cb22d2e 1cb22d2 load on device 'cuda:0' took 0.51 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_2fb7f2f1 60674ca load on device 'cuda:0' took 0.49 ms (cached) -Module newton._src.solvers.implicit_mpm.rasterized_collisions.world_position_33f2b610 f78fcaa load on device 'cuda:0' took 0.36 ms (cached) -Module newton._src.solvers.implicit_mpm.rasterized_collisions 6d32b59 load on device 'cuda:0' took 0.39 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.collision_weight_field_8c7a1ed7 c6a78c2 load on device 'cuda:0' took 0.36 ms (cached) -Module _bsr_accumulate_triplet_values_89c51218 7baeb9a load on device 'cuda:0' took 0.31 ms (cached) -Module warp._src.fem.quadrature.quadrature.dyn.quadrature_point_element_indices_d52fa04e ff44114 load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_e081b3ef ccc78d5 load on device 'cuda:0' took 0.34 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_c147b205 39f0a31 load on device 'cuda:0' took 0.35 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_apic_9dd4ac18 813b0f2 load on device 'cuda:0' took 0.35 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_mass_5fda8e19 ac3dcd8 load on device 'cuda:0' took 0.35 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_fea4d8fd 16d7ac5 load on device 'cuda:0' took 0.35 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_yield_parameters_6dcf6251 7dc048e load on device 'cuda:0' took 0.42 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_88c9ef37 0303b67 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_active_fraction_a5404331 06e1637 load on device 'cuda:0' took 0.37 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_99ecc7cf a3c8b39 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_7c94db4e 0446aed load on device 'cuda:0' took 0.36 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_a649643f 454191e load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_collider_fraction_a5258c95 ac7d7fc load on device 'cuda:0' took 0.36 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_bdb78fbc 7f792ef load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.strain_delta_form_622b62c3 f655226 load on device 'cuda:0' took 0.33 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_6d221857 31482f3 load on device 'cuda:0' took 0.36 ms (cached) -Module warp.fem.integrate._identity_field_b5aa3f34 0ab4782 load on device 'cuda:0' took 0.44 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_particle_stress_d3464583 ca2f662 load on device 'cuda:0' took 0.35 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_b79d8313 7d87f73 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.mass_form_bd277bc5 45a767e load on device 'cuda:0' took 0.36 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_f6d3cfb2 ad2be72 load on device 'cuda:0' took 0.35 ms (cached) -Module warp.sparse 52bbb2e load on device 'cuda:0' took 0.54 ms (cached) -Module _bsr_assign_copy_blocks_25808539 9673674 load on device 'cuda:0' took 0.31 ms (cached) -Module compute_eigenvalues_70d01c86 29a61fe load on device 'cuda:0' took 0.30 ms (cached) -Module inverse_scale_vector_e40af5d0 f052608 load on device 'cuda:0' took 0.30 ms (cached) -Module newton._src.solvers.implicit_mpm.contact_solver_kernels f1493cd load on device 'cuda:0' took 0.44 ms (cached) -Module _bsr_transpose_values_1d188087 aa92b67 load on device 'cuda:0' took 0.46 ms (cached) -Module make_bsr_mv_tiled_kernel__locals__bsr_mv_tiled_kernel_17fd668b 3f91fc9 load on device 'cuda:0' took 0.36 ms (cached) -Module make_bsr_mv_kernel__locals__bsr_mv_kernel_37b51eee bf7159b load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels 42c788a load on device 'cuda:0' took 0.82 ms (cached) -Module newton._src.solvers.implicit_mpm.solve_rheology 65415ca load on device 'cuda:0' took 0.45 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels c7bb17e load on device 'cuda:0' took 0.62 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels.dyn.gs_solve_kernel_impl_ba42a0de 8d2ccee load on device 'cuda:0' took 0.35 ms (cached) -Module newton._src.solvers.implicit_mpm.solve_rheology 92bb71d load on device 'cuda:0' took 0.53 ms (cached) -Module warp.fem.space.partition 4c5b150 load on device 'cuda:0' took 0.36 ms (cached) -Module scatter_field_dof_values_ec638f93 bde0ade load on device 'cuda:0' took 0.34 ms (cached) -Module warp.fem.integrate._identity_field_15c95b83 0df86d1 load on device 'cuda:0' took 0.36 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.update_particle_strains_40d97e08 13b8e25 load on device 'cuda:0' took 0.39 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.advect_particles_2f248551 bfedeec load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_380959cb bb9f71e load on device 'cuda:0' took 0.51 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_ec304b85 25a078a load on device 'cuda:0' took 0.36 ms (cached) {"soil": "clay", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.951, "loads": [{"carrier": 0, "departed_s": 134.8, "load_kg": 9622, "loading_s": 134.8, "passes": 7}, {"carrier": 0, "departed_s": 381.7, "load_kg": 11136, "loading_s": 188.8, "passes": 10}, {"carrier": 0, "departed_s": 721.5, "load_kg": 11006, "loading_s": 281.1, "passes": 15}, {"carrier": 0, "departed_s": 963.6, "load_kg": 10268, "loading_s": 183.1, "passes": 10}], "trips": [{"depart_t": 134.77, "stages": {"loading": 134.77, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.85, "lower": 5.0, "return": 4.78, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 294, "away_s": 58.08}, {"depart_t": 381.68, "stages": {"loading": 188.83, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.68, "lower": 5.0, "return": 4.55, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 283, "away_s": 58.69}, {"depart_t": 721.5, "stages": {"loading": 281.13, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 6.12, "lower": 5.0, "return": 4.43, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 236, "away_s": 59.0}, {"depart_t": 963.58, "stages": {"loading": 183.08, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 6.53, "lower": 5.0, "return": 4.32, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 325, "away_s": 59.3}], "delivered_t": 40.89, "loaded_t": 52.27, "loaded_t_per_hour": 125.4, "mean_departure_interval_s": 276.3, "t_per_hour": 98.1, "mean_load_kg": 10508.0, "mean_loading_s": 197.0, "carry_back_kg": [294, 283, 236, 325], "mean_away_s": 58.8, "excavator_wait_s": 199.9, "passes": 72, "spoil_settled_t": 41.73, "lost_particles": 1826, "pool_short": 0, "skipped": [{"t": 647.93, "stage": "swing back", "max_err_rad": 0.0}, {"t": 651.95, "stage": "approach", "max_err_rad": 1.406}, {"t": 660.87, "stage": "curl", "max_err_rad": 0.146}], "carrier_wait_at_dump_s": 0.0, "carrier_wait_to_leave_s": 0.0, "carrier_wait_to_load_s": 0.0, "spot_empty_s": 235.1, "pit_left_t": 118.3, "pit_done": false, "faces": [[0.0, 0.0], [10.0, 0.0], [-30.0, 0.0], [-10.0, 0.0], [-20.0, 0.0], [20.0, 0.0], [-10.0, 0.0], [-30.0, 0.0], [-30.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [20.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-30.0, 0.0], [20.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-30.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-40.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-30.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [20.0, 0.0], [10.0, 0.0]], "curl_gain_kg": 68, "mean_carried_kg": 907, "mean_dumped_kg": 767, "thin_passes": 24, "pass_log": [{"pass": 0, "t": 0.0, "face": [0.0, 0.0, 1.39], "dig_max_kg": 1202, "early_curl": true, "skips": 0, "at_swing_kg": 1198, "carried_kg": 1225, "left_kg": 74}, {"pass": 1, "t": 16.2, "face": [10.0, 0.0, 1.38], "dig_max_kg": 1260, "early_curl": true, "skips": 0, "at_swing_kg": 1236, "carried_kg": 1276, "left_kg": 133}, {"pass": 2, "t": 33.3, "face": [-30.0, 0.0, 1.32], "dig_max_kg": 1254, "early_curl": true, "skips": 0, "at_swing_kg": 1118, "carried_kg": 1087, "left_kg": 179}, {"pass": 3, "t": 50.4, "face": [-10.0, 0.0, 1.31], "dig_max_kg": 1191, "early_curl": true, "skips": 0, "at_swing_kg": 1149, "carried_kg": 1226, "left_kg": 191}, {"pass": 4, "t": 67.8, "face": [-20.0, 0.0, 1.21], "dig_max_kg": 1210, "early_curl": true, "skips": 0, "at_swing_kg": 1208, "carried_kg": 1205, "left_kg": 55}, {"pass": 5, "t": 83.6, "face": [20.0, 0.0, 1.14], "dig_max_kg": 1210, "early_curl": true, "skips": 0, "at_swing_kg": 1024, "carried_kg": 1088, "left_kg": 60}, {"pass": 6, "t": 101.2, "face": [-10.0, 0.0, 0.9], "dig_max_kg": 1282, "early_curl": false, "skips": 0, "at_swing_kg": 1270, "carried_kg": 1353, "left_kg": 373}, {"pass": 7, "t": 118.9, "face": [-30.0, 0.0, 0.82], "dig_max_kg": 1276, "early_curl": false, "skips": 0, "at_swing_kg": 1198, "carried_kg": 1251, "left_kg": 360}, {"pass": 8, "t": 136.0, "face": [-30.0, 0.0, 0.9], "dig_max_kg": 1201, "early_curl": false, "skips": 0, "at_swing_kg": 1094, "carried_kg": 1076, "left_kg": 21}, {"pass": 9, "t": 201.0, "face": [0.0, 0.0, 0.7], "dig_max_kg": 1322, "early_curl": false, "skips": 0, "at_swing_kg": 1321, "carried_kg": 1344, "left_kg": 20}, {"pass": 10, "t": 218.0, "face": [0.0, 0.0, 1.1], "dig_max_kg": 1322, "early_curl": true, "skips": 0, "at_swing_kg": 1159, "carried_kg": 1198, "left_kg": 150}, {"pass": 11, "t": 235.5, "face": [-10.0, 0.0, 0.7], "dig_max_kg": 1180, "early_curl": false, "skips": 0, "at_swing_kg": 1130, "carried_kg": 1258, "left_kg": 260}, {"pass": 12, "t": 253.6, "face": [-10.0, 0.0, 1.01], "dig_max_kg": 1151, "early_curl": true, "skips": 0, "at_swing_kg": 1134, "carried_kg": 1302, "left_kg": 100}, {"pass": 13, "t": 272.2, "face": [20.0, 0.0, 0.65], "dig_max_kg": 1321, "early_curl": false, "skips": 0, "at_swing_kg": 1219, "carried_kg": 1342, "left_kg": 101}, {"pass": 14, "t": 290.9, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1225, "early_curl": false, "skips": 0, "at_swing_kg": 380, "carried_kg": 421, "left_kg": 56}, {"pass": 15, "t": 309.5, "face": [20.0, 0.0, 0.98], "dig_max_kg": 378, "early_curl": false, "skips": 0, "at_swing_kg": 209, "carried_kg": 222, "left_kg": 182}, {"pass": 16, "t": 327.1, "face": [10.0, 0.0, 0.65], "dig_max_kg": 1091, "early_curl": false, "skips": 0, "at_swing_kg": 1082, "carried_kg": 1185, "left_kg": 76}, {"pass": 17, "t": 344.5, "face": [10.0, 0.0, 1.12], "dig_max_kg": 1285, "early_curl": true, "skips": 0, "at_swing_kg": 1276, "carried_kg": 1390, "left_kg": 685}, {"pass": 18, "t": 363.6, "face": [-10.0, 0.0, 0.62], "dig_max_kg": 1505, "early_curl": false, "skips": 0, "at_swing_kg": 1465, "carried_kg": 1512, "left_kg": 560}, {"pass": 19, "t": 383.1, "face": [-10.0, 0.0, 1.0], "dig_max_kg": 1478, "early_curl": true, "skips": 0, "at_swing_kg": 1184, "carried_kg": 1155, "left_kg": 90}, {"pass": 20, "t": 449.1, "face": [0.0, 0.0, 0.62], "dig_max_kg": 1191, "early_curl": false, "skips": 0, "at_swing_kg": 1173, "carried_kg": 1294, "left_kg": 78}, {"pass": 21, "t": 466.1, "face": [0.0, 0.0, 1.05], "dig_max_kg": 1186, "early_curl": true, "skips": 0, "at_swing_kg": 1082, "carried_kg": 1161, "left_kg": 111}, {"pass": 22, "t": 484.5, "face": [0.0, 0.0, 0.74], "dig_max_kg": 1325, "early_curl": false, "skips": 0, "at_swing_kg": 1300, "carried_kg": 1296, "left_kg": 66}, {"pass": 23, "t": 501.1, "face": [0.0, 0.0, 1.05], "dig_max_kg": 1316, "early_curl": true, "skips": 0, "at_swing_kg": 1189, "carried_kg": 1210, "left_kg": 394}, {"pass": 24, "t": 519.9, "face": [-20.0, 0.0, 0.49], "dig_max_kg": 1193, "early_curl": false, "skips": 0, "at_swing_kg": 1057, "carried_kg": 1215, "left_kg": 91}, {"pass": 25, "t": 536.0, "face": [-20.0, 0.0, 0.95], "dig_max_kg": 1136, "early_curl": true, "skips": 0, "at_swing_kg": 1085, "carried_kg": 1199, "left_kg": 412}, {"pass": 26, "t": 553.3, "face": [-30.0, 0.0, 0.61], "dig_max_kg": 1386, "early_curl": false, "skips": 0, "at_swing_kg": 1324, "carried_kg": 1496, "left_kg": 105}, {"pass": 27, "t": 570.3, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1327, "early_curl": false, "skips": 0, "at_swing_kg": 573, "carried_kg": 602, "left_kg": 118}, {"pass": 28, "t": 589.3, "face": [20.0, 0.0, 0.97], "dig_max_kg": 584, "early_curl": false, "skips": 0, "at_swing_kg": 212, "carried_kg": 236, "left_kg": 215}, {"pass": 29, "t": 607.3, "face": [20.0, 0.0, 0.95], "dig_max_kg": 605, "early_curl": false, "skips": 0, "at_swing_kg": 594, "carried_kg": 671, "left_kg": 23}, {"pass": 30, "t": 624.7, "face": [-20.0, 0.0, 0.72], "dig_max_kg": 1180, "early_curl": false, "skips": 1, "at_swing_kg": 1163, "carried_kg": 1253, "left_kg": 458}, {"pass": 31, "t": 648.0, "face": [-20.0, 0.0, 1.04], "dig_max_kg": 1178, "early_curl": true, "skips": 2, "at_swing_kg": 590, "carried_kg": 0, "left_kg": 1}, {"pass": 32, "t": 667.8, "face": [-20.0, 0.0, 1.04], "dig_max_kg": 1548, "early_curl": true, "skips": 0, "at_swing_kg": 1510, "carried_kg": 1640, "left_kg": 81}, {"pass": 33, "t": 685.0, "face": [10.0, 0.0, 0.66], "dig_max_kg": 1531, "early_curl": false, "skips": 0, "at_swing_kg": 1342, "carried_kg": 1378, "left_kg": 200}, {"pass": 34, "t": 704.9, "face": [10.0, 0.0, 1.02], "dig_max_kg": 1356, "early_curl": true, "skips": 0, "at_swing_kg": 1216, "carried_kg": 1203, "left_kg": 201}, {"pass": 35, "t": 722.8, "face": [-30.0, 0.0, 0.55], "dig_max_kg": 1218, "early_curl": false, "skips": 0, "at_swing_kg": 1236, "carried_kg": 1212, "left_kg": 33}, {"pass": 36, "t": 789.0, "face": [10.0, 0.0, 0.54], "dig_max_kg": 1439, "early_curl": false, "skips": 0, "at_swing_kg": 1439, "carried_kg": 1468, "left_kg": 85}, {"pass": 37, "t": 807.6, "face": [10.0, 0.0, 1.01], "dig_max_kg": 1434, "early_curl": false, "skips": 0, "at_swing_kg": 1098, "carried_kg": 1101, "left_kg": 91}, {"pass": 38, "t": 824.4, "face": [-10.0, 0.0, 0.47], "dig_max_kg": 1470, "early_curl": false, "skips": 0, "at_swing_kg": 1449, "carried_kg": 1537, "left_kg": 288}, {"pass": 39, "t": 843.2, "face": [-10.0, 0.0, 0.98], "dig_max_kg": 848, "early_curl": true, "skips": 0, "at_swing_kg": 314, "carried_kg": 371, "left_kg": 51}, {"pass": 40, "t": 859.6, "face": [-10.0, 0.0, 0.99], "dig_max_kg": 1463, "early_curl": true, "skips": 0, "at_swing_kg": 1421, "carried_kg": 1490, "left_kg": 189}, {"pass": 41, "t": 878.8, "face": [20.0, 0.0, 0.76], "dig_max_kg": 1442, "early_curl": false, "skips": 0, "at_swing_kg": 32, "carried_kg": 42, "left_kg": 3}, {"pass": 42, "t": 897.0, "face": [20.0, 0.0, 0.81], "dig_max_kg": 208, "early_curl": false, "skips": 0, "at_swing_kg": 175, "carried_kg": 217, "left_kg": 0}, {"pass": 43, "t": 914.2, "face": [-20.0, 0.0, 0.56], "dig_max_kg": 1820, "early_curl": false, "skips": 0, "at_swing_kg": 1786, "carried_kg": 1808, "left_kg": 81}, {"pass": 44, "t": 930.9, "face": [-20.0, 0.0, 1.05], "dig_max_kg": 1782, "early_curl": true, "skips": 0, "at_swing_kg": 229, "carried_kg": 342, "left_kg": 100}, {"pass": 45, "t": 947.4, "face": [-20.0, 0.0, 1.07], "dig_max_kg": 1485, "early_curl": false, "skips": 0, "at_swing_kg": 1473, "carried_kg": 1517, "left_kg": 61}, {"pass": 46, "t": 965.4, "face": [10.0, 0.0, 0.46], "dig_max_kg": 1671, "early_curl": false, "skips": 0, "at_swing_kg": 1757, "carried_kg": 1689, "left_kg": 177}, {"pass": 47, "t": 1032.8, "face": [10.0, 0.0, 1.17], "dig_max_kg": 1639, "early_curl": true, "skips": 0, "at_swing_kg": 520, "carried_kg": 482, "left_kg": 410}, {"pass": 48, "t": 1051.5, "face": [10.0, 0.0, 1.15], "dig_max_kg": 1461, "early_curl": false, "skips": 0, "at_swing_kg": 1447, "carried_kg": 1389, "left_kg": 47}, {"pass": 49, "t": 1070.3, "face": [0.0, 0.0, 0.51], "dig_max_kg": 1561, "early_curl": false, "skips": 0, "at_swing_kg": 1561, "carried_kg": 1561, "left_kg": 111}, {"pass": 50, "t": 1087.9, "face": [0.0, 0.0, 1.09], "dig_max_kg": 1560, "early_curl": false, "skips": 0, "at_swing_kg": 903, "carried_kg": 883, "left_kg": 27}, {"pass": 51, "t": 1106.3, "face": [0.0, 0.0, 1.18], "dig_max_kg": 647, "early_curl": false, "skips": 0, "at_swing_kg": 3, "carried_kg": 1, "left_kg": 0}, {"pass": 52, "t": 1124.1, "face": [0.0, 0.0, 1.22], "dig_max_kg": 544, "early_curl": false, "skips": 0, "at_swing_kg": 35, "carried_kg": 35, "left_kg": 51}, {"pass": 53, "t": 1140.9, "face": [-10.0, 0.0, 0.8], "dig_max_kg": 1380, "early_curl": false, "skips": 0, "at_swing_kg": 1375, "carried_kg": 1256, "left_kg": 106}, {"pass": 54, "t": 1158.2, "face": [-10.0, 0.0, 1.06], "dig_max_kg": 1380, "early_curl": false, "skips": 0, "at_swing_kg": 402, "carried_kg": 463, "left_kg": 28}, {"pass": 55, "t": 1176.3, "face": [-10.0, 0.0, 0.99], "dig_max_kg": 627, "early_curl": false, "skips": 0, "at_swing_kg": 1, "carried_kg": 0, "left_kg": 7}, {"pass": 56, "t": 1193.9, "face": [20.0, 0.0, 0.77], "dig_max_kg": 162, "early_curl": false, "skips": 0, "at_swing_kg": 75, "carried_kg": 107, "left_kg": 100}, {"pass": 57, "t": 1211.7, "face": [20.0, 0.0, 0.83], "dig_max_kg": 208, "early_curl": false, "skips": 0, "at_swing_kg": 199, "carried_kg": 240, "left_kg": 0}, {"pass": 58, "t": 1228.8, "face": [-40.0, 0.0, 0.39], "dig_max_kg": 879, "early_curl": false, "skips": 0, "at_swing_kg": 879, "carried_kg": 934, "left_kg": 168}, {"pass": 59, "t": 1247.1, "face": [10.0, 0.0, 0.97], "dig_max_kg": 946, "early_curl": true, "skips": 0, "at_swing_kg": 358, "carried_kg": 319, "left_kg": 263}, {"pass": 60, "t": 1263.6, "face": [10.0, 0.0, 1.01], "dig_max_kg": 1512, "early_curl": false, "skips": 0, "at_swing_kg": 1489, "carried_kg": 1390, "left_kg": 432}, {"pass": 61, "t": 1283.5, "face": [-20.0, 0.0, 0.31], "dig_max_kg": 1502, "early_curl": false, "skips": 0, "at_swing_kg": 661, "carried_kg": 657, "left_kg": 114}, {"pass": 62, "t": 1301.7, "face": [-20.0, 0.0, 0.32], "dig_max_kg": 781, "early_curl": false, "skips": 0, "at_swing_kg": 162, "carried_kg": 214, "left_kg": 83}, {"pass": 63, "t": 1318.5, "face": [-20.0, 0.0, 0.33], "dig_max_kg": 610, "early_curl": false, "skips": 0, "at_swing_kg": 0, "carried_kg": 0, "left_kg": 14}, {"pass": 64, "t": 1336.2, "face": [0.0, 0.0, 1.1], "dig_max_kg": 443, "early_curl": false, "skips": 0, "at_swing_kg": 1, "carried_kg": 1, "left_kg": 30}, {"pass": 65, "t": 1353.4, "face": [0.0, 0.0, 1.11], "dig_max_kg": 606, "early_curl": false, "skips": 0, "at_swing_kg": 434, "carried_kg": 458, "left_kg": 17}, {"pass": 66, "t": 1370.7, "face": [-30.0, 0.0, 0.31], "dig_max_kg": 1044, "early_curl": false, "skips": 0, "at_swing_kg": 1014, "carried_kg": 1055, "left_kg": 29}, {"pass": 67, "t": 1387.8, "face": [-10.0, 0.0, 1.04], "dig_max_kg": 1033, "early_curl": false, "skips": 0, "at_swing_kg": 12, "carried_kg": 13, "left_kg": 0}, {"pass": 68, "t": 1404.5, "face": [-10.0, 0.0, 1.05], "dig_max_kg": 518, "early_curl": false, "skips": 0, "at_swing_kg": 0, "carried_kg": 0, "left_kg": 45}, {"pass": 69, "t": 1423.1, "face": [20.0, 0.0, 0.75], "dig_max_kg": 514, "early_curl": false, "skips": 0, "at_swing_kg": 514, "carried_kg": 621, "left_kg": 308}, {"pass": 70, "t": 1444.7, "face": [20.0, 0.0, 0.79], "dig_max_kg": 511, "early_curl": false, "skips": 0, "at_swing_kg": 117, "carried_kg": 133, "left_kg": 5}, {"pass": 71, "t": 1462.2, "face": [20.0, 0.0, 0.82], "dig_max_kg": 1332, "early_curl": true, "skips": 0, "at_swing_kg": 1314, "carried_kg": 1298, "left_kg": 205}], "dozer": {"passes": 12, "push_m": 90.7, "work_MJ": 2.2, "load_lifts": 67, "lifts_raised": 1, "parked_s": 1155.18, "working_s": 344.83, "peak_kN": 82.27, "slip_s": 2.98, "futile_passes": 0, "mean_push_kN": [26.0, 20.9, 16.1, 15.3, 15.1, 30.4, 22.9, 25.9, 27.6, 30.8, 27.8, 24.3]}, "spread": {"design_z_above_ground": 0.6, "area_m2": 61.2, "covered_m2": 44.1, "rms_from_grade_m": 0.397, "max_above_grade_m": 2.15, "at_grade_fraction": 0.34, "unspread_m3": 3.61}} diff --git a/phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json b/phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json index aad72a9..821344a 100644 --- a/phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json +++ b/phase2/logs/haul_bench_lane_fix_long_dry-sand_1carrier.json @@ -1,115 +1 @@ -Warp 1.19.0 initialized: - CUDA Toolkit 13.4, Driver 13.0 - Devices: - "cpu" : "aarch64" - "cuda:0" : "NVIDIA GB10" (122 GiB, sm_121, mempool enabled) - Kernel cache: - /home/dttai1/.cache/warp/1.19.0 -Module validate_and_correct_inertia_kernel_0dd217c5 0dd217c load on device 'cuda:0' took 0.85 ms (cached) -Module newton._src.geometry.bvh c108a72 load on device 'cuda:0' took 0.56 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_model 3bb21b4 load on device 'cuda:0' took 0.51 ms (cached) -Module warp.fem.geometry.nanogrid 8a477eb load on device 'cuda:0' took 0.57 ms (cached) -Module warp._src.fem.quadrature.pic_quadrature.dyn.bin_particles_72b36c27 1274abb load on device 'cuda:0' took 0.46 ms (cached) -Module warp.fem.utils 5050414 load on device 'cuda:0' took 0.36 ms (cached) -Module warp._src.fem.quadrature.pic_quadrature.dyn.finalize_cell_particle_data_6a72a038 588425d load on device 'cuda:0' took 0.35 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_60813d26 264deb8 load on device 'cuda:0' took 0.44 ms (cached) -Module warp.fem.space.restriction 13859e3 load on device 'cuda:0' took 0.29 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_9775d3a0 c659439 load on device 'cuda:0' took 0.34 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_8688d243 72a45d0 load on device 'cuda:0' took 0.31 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.dyn.cell_color_e837866a 03aea13 load on device 'cuda:0' took 0.31 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels 309f94e load on device 'cuda:0' took 0.43 ms (cached) -Module warp._src.coloring 5014867 load on device 'cpu' took 0.90 ms (cached) -Module newton._src.solvers.mujoco.kernels 8cde23f load on device 'cuda:0' took 2.97 ms (cached) -Module mujoco_warp._src.set_const e7f6e53 load on device 'cuda:0' took 0.70 ms (cached) -Module mujoco_warp._src.smooth 6ec87e9 load on device 'cuda:0' took 1.35 ms (cached) -Module _small_cholesky_factorize_block__locals__kernel_688128d2 3a1ff3a load on device 'cuda:0' took 0.34 ms (cached) -Module _small_cholesky_factorize_block__locals__kernel_76d25309 797032f load on device 'cuda:0' took 0.28 ms (cached) -Module _small_cholesky_solve_block__locals__kernel_1e3f1516 c492a5b load on device 'cuda:0' took 0.29 ms (cached) -Module _small_cholesky_solve_block__locals__kernel_b7425cff b9bad6a load on device 'cuda:0' took 0.27 ms (cached) -Module create_eval_articulation_fk_tile__locals__eval_articulation_fk_tile_b12ad9e5 33f5a01 load on device 'cuda:0' took 0.55 ms (cached) -Module soil_zone 8795928 load on device 'cuda:0' took 0.82 ms (cached) -Module map_mul 4da365f load on device 'cuda:0' took 0.32 ms (cached) -Module soil_server d8198c9 load on device 'cuda:0' took 0.49 ms (cached) -Module excavator_server b3143cf load on device 'cuda:0' took 0.41 ms (cached) -Module newton._src.sim.collide f8ad45d load on device 'cuda:0' took 0.34 ms (cached) -Module newton._src.geometry.broad_phase_nxn 92014d2 load on device 'cuda:0' took 0.30 ms (cached) -Module narrow_phase_primitive_write_contact_False_False_False 3cf6427 load on device 'cuda:0' took 0.33 ms (cached) -Module narrow_phase_gjk_mpr_True_False_write_contact_support_map_lean_post_process_minkowski_only 7d090a1 load on device 'cuda:0' took 0.46 ms (cached) -Module newton._src.geometry.narrow_phase dde4959 load on device 'cuda:0' took 0.46 ms (cached) -Module mujoco_warp._src.constraint 9feb269 load on device 'cuda:0' took 0.32 ms (cached) -Module _friction_dof__locals__kernel_de3fc701 de3fc70 load on device 'cuda:0' took 0.39 ms (cached) -Module _limit_slide_hinge__locals__kernel_0914a21e 0914a21 load on device 'cuda:0' took 0.33 ms (cached) -Module _efc_contact_init__locals__kernel_2fbed541 2fbed54 load on device 'cuda:0' took 0.30 ms (cached) -Module _efc_contact_jac_dense__locals__kernel_1686fae4 bea9b8b load on device 'cuda:0' took 0.36 ms (cached) -Module _efc_contact_update__locals__kernel_a67f25cf a67f25c load on device 'cuda:0' took 0.29 ms (cached) -Module mujoco_warp._src.passive a2eea36 load on device 'cuda:0' took 0.45 ms (cached) -Module _qfrc_passive_kernel__locals__kernel_887f05a4 887f05a load on device 'cuda:0' took 0.29 ms (cached) -Module _qfrc_smooth__locals__kernel_5d93552d 5d93552 load on device 'cuda:0' took 0.28 ms (cached) -Module mujoco_warp._src.support 462b66b load on device 'cuda:0' took 0.27 ms (cached) -Module _small_cholesky_factorize_solve_block__locals__kernel_32267892 9d7a2a3 load on device 'cuda:0' took 0.30 ms (cached) -Module _small_cholesky_factorize_solve_block__locals__kernel_bbb3b6d0 7e9304f load on device 'cuda:0' took 0.28 ms (cached) -Module _solve_init_dof__locals__kernel_08db194e 08db194 load on device 'cuda:0' took 0.27 ms (cached) -Module mujoco_warp._src.solver ab57257 load on device 'cuda:0' took 0.39 ms (cached) -Module _solve_init_jaref_kernel__locals__kernel_7c525cac 7c525ca load on device 'cuda:0' took 0.28 ms (cached) -Module mul_m_kernel__locals___mul_m_2eb0ef19 2eb0ef1 load on device 'cuda:0' took 0.27 ms (cached) -Module _update_constraint_efc__locals__kernel_01e3395a 01e3395 load on device 'cuda:0' took 0.28 ms (cached) -Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_1f63a94a 1f63a94 load on device 'cuda:0' took 0.29 ms (cached) -Module _update_gradient_zero_grad_dot__locals__kernel_eeeb13da eeeb13d load on device 'cuda:0' took 0.27 ms (cached) -Module _update_gradient_grad__locals__kernel_9654ebd0 9654ebd load on device 'cuda:0' took 0.27 ms (cached) -Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_42d95046 a1e3b32 load on device 'cuda:0' took 0.50 ms (cached) -Module _update_gradient_cholesky__locals__kernel_4248b06c d4ff837 load on device 'cuda:0' took 26.83 ms (cached) -Module _linesearch_iterative_kernel__locals__kernel_9e726ceb fad442d load on device 'cuda:0' took 0.49 ms (cached) -Module _update_constraint_efc__locals__kernel_81674199 8167419 load on device 'cuda:0' took 0.32 ms (cached) -Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_8e350d39 8e350d3 load on device 'cuda:0' took 0.29 ms (cached) -Module _update_gradient_zero_grad_dot__locals__kernel_ba7e8e2f ba7e8e2 load on device 'cuda:0' took 0.28 ms (cached) -Module _update_gradient_grad__locals__kernel_4f2bb7a9 4f2bb7a load on device 'cuda:0' took 0.27 ms (cached) -Module _update_gradient_cholesky__locals__kernel_4c171783 4827da2 load on device 'cuda:0' took 26.96 ms (cached) -Module _solve_done__locals__kernel_8d3e2217 8d3e221 load on device 'cuda:0' took 0.42 ms (cached) -Module mujoco_warp._src.derivative 380fbcc load on device 'cuda:0' took 0.57 ms (cached) -Module mujoco_warp._src.forward 9883e25 load on device 'cuda:0' took 0.46 ms (cached) -Module _next_time_builder__locals___next_time_1cb22d2e 1cb22d2 load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_2fb7f2f1 60674ca load on device 'cuda:0' took 0.51 ms (cached) -Module newton._src.solvers.implicit_mpm.rasterized_collisions.world_position_33f2b610 f78fcaa load on device 'cuda:0' took 0.38 ms (cached) -Module newton._src.solvers.implicit_mpm.rasterized_collisions 6d32b59 load on device 'cuda:0' took 0.41 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.collision_weight_field_8c7a1ed7 c6a78c2 load on device 'cuda:0' took 0.37 ms (cached) -Module _bsr_accumulate_triplet_values_89c51218 7baeb9a load on device 'cuda:0' took 0.32 ms (cached) -Module warp._src.fem.quadrature.quadrature.dyn.quadrature_point_element_indices_d52fa04e ff44114 load on device 'cuda:0' took 0.36 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_e081b3ef ccc78d5 load on device 'cuda:0' took 0.35 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_c147b205 39f0a31 load on device 'cuda:0' took 0.36 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_apic_9dd4ac18 813b0f2 load on device 'cuda:0' took 0.36 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_mass_5fda8e19 ac3dcd8 load on device 'cuda:0' took 0.37 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_fea4d8fd 16d7ac5 load on device 'cuda:0' took 0.37 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_yield_parameters_6dcf6251 7dc048e load on device 'cuda:0' took 0.44 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_88c9ef37 0303b67 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_active_fraction_a5404331 06e1637 load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_99ecc7cf a3c8b39 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_7c94db4e 0446aed load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_a649643f 454191e load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_collider_fraction_a5258c95 ac7d7fc load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_bdb78fbc 7f792ef load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.strain_delta_form_622b62c3 f655226 load on device 'cuda:0' took 0.34 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_6d221857 31482f3 load on device 'cuda:0' took 0.37 ms (cached) -Module warp.fem.integrate._identity_field_b5aa3f34 0ab4782 load on device 'cuda:0' took 0.53 ms (cached) -Module warp.fem.integrate._identity_field_a98e1c46 928ad9d load on device 'cuda:0' took 0.44 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.mass_form_bd277bc5 45a767e load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_f6d3cfb2 ad2be72 load on device 'cuda:0' took 0.36 ms (cached) -Module warp.sparse 52bbb2e load on device 'cuda:0' took 0.55 ms (cached) -Module _bsr_assign_copy_blocks_25808539 9673674 load on device 'cuda:0' took 0.30 ms (cached) -Module compute_eigenvalues_70d01c86 29a61fe load on device 'cuda:0' took 0.30 ms (cached) -Module inverse_scale_vector_e40af5d0 f052608 load on device 'cuda:0' took 0.31 ms (cached) -Module newton._src.solvers.implicit_mpm.contact_solver_kernels f1493cd load on device 'cuda:0' took 0.46 ms (cached) -Module _bsr_transpose_values_1d188087 aa92b67 load on device 'cuda:0' took 0.46 ms (cached) -Module make_bsr_mv_tiled_kernel__locals__bsr_mv_tiled_kernel_17fd668b 3f91fc9 load on device 'cuda:0' took 0.38 ms (cached) -Module make_bsr_mv_kernel__locals__bsr_mv_kernel_37b51eee bf7159b load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels 42c788a load on device 'cuda:0' took 0.89 ms (cached) -Module newton._src.solvers.implicit_mpm.solve_rheology 65415ca load on device 'cuda:0' took 0.44 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels c7bb17e load on device 'cuda:0' took 0.62 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels.dyn.gs_solve_kernel_impl_ba42a0de 8d2ccee load on device 'cuda:0' took 0.35 ms (cached) -Module newton._src.solvers.implicit_mpm.solve_rheology 92bb71d load on device 'cuda:0' took 0.53 ms (cached) -Module warp.fem.space.partition 4c5b150 load on device 'cuda:0' took 0.35 ms (cached) -Module scatter_field_dof_values_ec638f93 bde0ade load on device 'cuda:0' took 0.34 ms (cached) -Module warp.fem.integrate._identity_field_15c95b83 0df86d1 load on device 'cuda:0' took 0.36 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.advect_particles_2f248551 bfedeec load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_380959cb bb9f71e load on device 'cuda:0' took 0.54 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_ec304b85 25a078a load on device 'cuda:0' took 0.37 ms (cached) {"soil": "dry-sand", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.938, "loads": [{"carrier": 0, "departed_s": 187.9, "load_kg": 8451, "loading_s": 187.9, "passes": 9}, {"carrier": 0, "departed_s": 381.9, "load_kg": 8335, "loading_s": 137.3, "passes": 6}, {"carrier": 0, "departed_s": 607.8, "load_kg": 8680, "loading_s": 169.2, "passes": 8}, {"carrier": 0, "departed_s": 817.4, "load_kg": 8552, "loading_s": 152.9, "passes": 7}, {"carrier": 0, "departed_s": 1007.1, "load_kg": 10723, "loading_s": 132.3, "passes": 7}, {"carrier": 0, "departed_s": 1230.7, "load_kg": 10546, "loading_s": 165.7, "passes": 9}], "trips": [{"depart_t": 187.88, "stages": {"loading": 187.88, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.03, "lower": 5.0, "return": 5.23, "turn to load": 7.22, "reverse in": 8.8}, 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"curl", "max_err_rad": 1.583}, {"t": 182.18, "stage": "swing to truck", "max_err_rad": 0.41}, {"t": 346.3, "stage": "swing back", "max_err_rad": 0.062}, {"t": 350.32, "stage": "approach", "max_err_rad": 1.909}, {"t": 354.33, "stage": "penetrate", "max_err_rad": 1.905}, {"t": 358.35, "stage": "drag", "max_err_rad": 1.907}, {"t": 362.37, "stage": "drag-curl", "max_err_rad": 1.909}, {"t": 366.38, "stage": "curl", "max_err_rad": 1.817}, {"t": 377.72, "stage": "swing to truck", "max_err_rad": 0.505}, {"t": 572.45, "stage": "swing back", "max_err_rad": 0.057}, {"t": 576.47, "stage": "approach", "max_err_rad": 1.572}, {"t": 580.48, "stage": "penetrate", "max_err_rad": 1.574}, {"t": 584.5, "stage": "drag", "max_err_rad": 1.577}, {"t": 588.52, "stage": "drag-curl", "max_err_rad": 1.568}, {"t": 592.53, "stage": "curl", "max_err_rad": 1.471}, {"t": 602.63, "stage": "swing to truck", "max_err_rad": 0.344}, {"t": 781.13, "stage": "swing back", "max_err_rad": 0.064}, {"t": 785.15, "stage": "approach", "max_err_rad": 1.378}, {"t": 789.17, "stage": "penetrate", "max_err_rad": 1.375}, {"t": 793.18, "stage": "drag", "max_err_rad": 1.371}, {"t": 797.2, "stage": "drag-curl", "max_err_rad": 1.364}, {"t": 801.22, "stage": "curl", "max_err_rad": 1.228}, {"t": 811.73, "stage": "swing to truck", "max_err_rad": 0.466}], "carrier_wait_at_dump_s": 0.0, "carrier_wait_to_leave_s": 0.0, "carrier_wait_to_load_s": 0.0, "spot_empty_s": 343.0, "pit_left_t": 76.5, "pit_done": false, "faces": [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-30.0, 0.0], [-30.0, 0.0], [10.0, 0.0], [10.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-30.0, 0.0], [0.0, 0.0], [10.0, 0.0], [0.0, 0.0], [-30.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-10.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [0.0, 0.0], [10.0, 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false, "skips": 0, "at_swing_kg": 1972, "carried_kg": 1675, "left_kg": 7}, {"pass": 29, "t": 706.8, "face": [-20.0, 0.0, 1.5], "dig_max_kg": 1950, "early_curl": false, "skips": 0, "at_swing_kg": 1872, "carried_kg": 1587, "left_kg": 1}, {"pass": 30, "t": 723.6, "face": [-20.0, 0.0, 1.48], "dig_max_kg": 1921, "early_curl": false, "skips": 0, "at_swing_kg": 1921, "carried_kg": 1537, "left_kg": 13}, {"pass": 31, "t": 741.5, "face": [-10.0, 0.0, 1.51], "dig_max_kg": 1669, "early_curl": false, "skips": 0, "at_swing_kg": 1669, "carried_kg": 1397, "left_kg": 5}, {"pass": 32, "t": 758.1, "face": [0.0, 0.0, 1.59], "dig_max_kg": 1953, "early_curl": false, "skips": 1, "at_swing_kg": 1953, "carried_kg": 1471, "left_kg": 1}, {"pass": 33, "t": 781.2, "face": [-20.0, 0.0, 1.5], "dig_max_kg": 1945, "early_curl": false, "skips": 6, "at_swing_kg": 792, "carried_kg": 973, "left_kg": 2}, {"pass": 34, "t": 818.6, "face": [-20.0, 0.0, 1.5], "dig_max_kg": 1819, "early_curl": false, "skips": 0, "at_swing_kg": 1573, "carried_kg": 1316, "left_kg": 7}, {"pass": 35, "t": 881.6, "face": [-10.0, 0.0, 1.49], "dig_max_kg": 1778, "early_curl": false, "skips": 0, "at_swing_kg": 1778, "carried_kg": 1424, "left_kg": 2}, {"pass": 36, "t": 899.3, "face": [10.0, 0.0, 1.32], "dig_max_kg": 1763, "early_curl": false, "skips": 0, "at_swing_kg": 1594, "carried_kg": 1058, "left_kg": 0}, {"pass": 37, "t": 917.4, "face": [10.0, 0.0, 1.53], "dig_max_kg": 1813, "early_curl": false, "skips": 0, "at_swing_kg": 1813, "carried_kg": 1363, "left_kg": 8}, {"pass": 38, "t": 934.4, "face": [0.0, 0.0, 1.56], "dig_max_kg": 1900, "early_curl": false, "skips": 0, "at_swing_kg": 1900, "carried_kg": 1467, "left_kg": 1}, {"pass": 39, "t": 952.6, "face": [10.0, 0.0, 1.46], "dig_max_kg": 1879, "early_curl": false, "skips": 0, "at_swing_kg": 1755, "carried_kg": 1196, "left_kg": 1}, {"pass": 40, "t": 971.4, "face": [20.0, 0.0, 1.23], "dig_max_kg": 1730, "early_curl": false, "skips": 0, "at_swing_kg": 1304, "carried_kg": 929, "left_kg": 1}, {"pass": 41, "t": 989.8, "face": [20.0, 0.0, 1.32], "dig_max_kg": 1732, "early_curl": false, "skips": 0, "at_swing_kg": 1732, "carried_kg": 1256, "left_kg": 1}, {"pass": 42, "t": 1009.0, "face": [10.0, 0.0, 1.42], "dig_max_kg": 1820, "early_curl": false, "skips": 0, "at_swing_kg": 1401, "carried_kg": 1090, "left_kg": 1}, {"pass": 43, "t": 1072.2, "face": [-20.0, 0.0, 1.3], "dig_max_kg": 1798, "early_curl": false, "skips": 0, "at_swing_kg": 1657, "carried_kg": 1426, "left_kg": 3}, {"pass": 44, "t": 1088.8, "face": [-10.0, 0.0, 1.3], "dig_max_kg": 1764, "early_curl": false, "skips": 0, "at_swing_kg": 1764, "carried_kg": 1414, "left_kg": 9}, {"pass": 45, "t": 1106.5, "face": [0.0, 0.0, 1.29], "dig_max_kg": 1751, "early_curl": false, "skips": 0, "at_swing_kg": 1727, "carried_kg": 1218, "left_kg": 1}, {"pass": 46, "t": 1125.8, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1702, "early_curl": false, "skips": 0, "at_swing_kg": 1211, "carried_kg": 919, "left_kg": 0}, {"pass": 47, "t": 1144.0, "face": [-20.0, 0.0, 0.91], "dig_max_kg": 1314, "early_curl": false, "skips": 0, "at_swing_kg": 1314, "carried_kg": 1076, "left_kg": 8}, {"pass": 48, "t": 1160.9, "face": [-10.0, 0.0, 0.85], "dig_max_kg": 1371, "early_curl": false, "skips": 0, "at_swing_kg": 1371, "carried_kg": 979, "left_kg": 1}, {"pass": 49, "t": 1179.2, "face": [10.0, 0.0, 0.84], "dig_max_kg": 1364, "early_curl": false, "skips": 0, "at_swing_kg": 1252, "carried_kg": 955, "left_kg": 2}, {"pass": 50, "t": 1196.9, "face": [0.0, 0.0, 0.78], "dig_max_kg": 1236, "early_curl": false, "skips": 0, "at_swing_kg": 1153, "carried_kg": 807, "left_kg": 1}, {"pass": 51, "t": 1214.6, "face": [-20.0, 0.0, 0.74], "dig_max_kg": 1048, "early_curl": false, "skips": 0, "at_swing_kg": 1048, "carried_kg": 657, "left_kg": 0}, {"pass": 52, "t": 1232.8, "face": [20.0, 0.0, 0.71], "dig_max_kg": 1031, "early_curl": false, "skips": 0, "at_swing_kg": 502, "carried_kg": 424, "left_kg": 0}, {"pass": 53, "t": 1294.9, "face": [-10.0, 0.0, 0.68], "dig_max_kg": 1083, "early_curl": false, "skips": 0, "at_swing_kg": 1083, "carried_kg": 782, "left_kg": 0}, {"pass": 54, "t": 1312.8, "face": [10.0, 0.0, 0.64], "dig_max_kg": 1070, "early_curl": false, "skips": 0, "at_swing_kg": 908, "carried_kg": 543, "left_kg": 1}, {"pass": 55, "t": 1331.1, "face": [0.0, 0.0, 0.65], "dig_max_kg": 904, "early_curl": false, "skips": 0, "at_swing_kg": 904, "carried_kg": 589, "left_kg": 1}, {"pass": 56, "t": 1348.3, "face": [-20.0, 0.0, 0.63], "dig_max_kg": 891, "early_curl": false, "skips": 0, "at_swing_kg": 889, "carried_kg": 624, "left_kg": 0}, {"pass": 57, "t": 1366.0, "face": [20.0, 0.0, 0.6], "dig_max_kg": 883, "early_curl": false, "skips": 0, "at_swing_kg": 623, "carried_kg": 339, "left_kg": 1}, {"pass": 58, "t": 1384.9, "face": [-10.0, 0.0, 0.58], "dig_max_kg": 890, "early_curl": false, "skips": 0, "at_swing_kg": 890, "carried_kg": 627, "left_kg": 0}, {"pass": 59, "t": 1402.3, "face": [10.0, 0.0, 0.53], "dig_max_kg": 876, "early_curl": false, "skips": 0, "at_swing_kg": 706, "carried_kg": 413, "left_kg": 0}, {"pass": 60, "t": 1420.3, "face": [0.0, 0.0, 0.56], "dig_max_kg": 744, "early_curl": false, "skips": 0, "at_swing_kg": 744, "carried_kg": 437, "left_kg": 0}, {"pass": 61, "t": 1438.2, "face": [-20.0, 0.0, 0.55], "dig_max_kg": 783, "early_curl": false, "skips": 0, "at_swing_kg": 783, "carried_kg": 548, "left_kg": 1}, {"pass": 62, "t": 1454.9, "face": [-10.0, 0.0, 0.51], "dig_max_kg": 780, "early_curl": false, "skips": 0, "at_swing_kg": 780, "carried_kg": 508, "left_kg": 0}, {"pass": 63, "t": 1473.0, "face": [20.0, 0.0, 0.51], "dig_max_kg": 766, "early_curl": false, "skips": 0, "at_swing_kg": 460, "carried_kg": 195, "left_kg": 0}], "dozer": {"passes": 24, "push_m": 125.59, "work_MJ": 1.11, "load_lifts": 3, "lifts_raised": 1, "parked_s": 1015.15, "working_s": 484.87, "peak_kN": 53.0, "slip_s": 0.0, "futile_passes": 5, "mean_push_kN": [8.5, 3.7, 7.1, 13.5, 0.3, 5.9, 6.2, 2.1, 13.6, 5.7, 7.3, 6.6, 14.8, 0.5, 10.3, 7.8, 7.2, 4.2, 2.0, 2.5, 0.6, 13.9, 0.5, 10.3]}, "spread": {"design_z_above_ground": 0.6, "area_m2": 61.2, "covered_m2": 56.6, "rms_from_grade_m": 0.143, "max_above_grade_m": 0.42, "at_grade_fraction": 0.58, "unspread_m3": 0.69}} diff --git a/phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json b/phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json index 1b3cf87..b2a328b 100644 --- a/phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json +++ b/phase2/logs/haul_bench_lane_fix_long_loam_1carrier.json @@ -1,117 +1 @@ -Warp 1.19.0 initialized: - CUDA Toolkit 13.4, Driver 13.0 - Devices: - "cpu" : "aarch64" - "cuda:0" : "NVIDIA GB10" (122 GiB, sm_121, mempool enabled) - Kernel cache: - /home/dttai1/.cache/warp/1.19.0 -Module validate_and_correct_inertia_kernel_0dd217c5 0dd217c load on device 'cuda:0' took 0.83 ms (cached) -Module newton._src.geometry.bvh c108a72 load on device 'cuda:0' took 0.55 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_model 3bb21b4 load on device 'cuda:0' took 0.51 ms (cached) -Module warp.fem.geometry.nanogrid 8a477eb load on device 'cuda:0' took 0.56 ms (cached) -Module warp._src.fem.quadrature.pic_quadrature.dyn.bin_particles_72b36c27 1274abb load on device 'cuda:0' took 0.46 ms (cached) -Module warp.fem.utils 5050414 load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.quadrature.pic_quadrature.dyn.finalize_cell_particle_data_6a72a038 588425d load on device 'cuda:0' took 0.47 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_60813d26 264deb8 load on device 'cuda:0' took 0.43 ms (cached) -Module warp.fem.space.restriction 13859e3 load on device 'cuda:0' took 0.30 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_9775d3a0 c659439 load on device 'cuda:0' took 0.35 ms (cached) -Module warp._src.fem.space.restriction.dyn.fill_element_node_indices_8688d243 72a45d0 load on device 'cuda:0' took 0.31 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.dyn.cell_color_e837866a 03aea13 load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels 309f94e load on device 'cuda:0' took 0.41 ms (cached) -Module warp._src.coloring 5014867 load on device 'cpu' took 0.86 ms (cached) -Module newton._src.solvers.mujoco.kernels 8cde23f load on device 'cuda:0' took 2.92 ms (cached) -Module mujoco_warp._src.set_const e7f6e53 load on device 'cuda:0' took 0.59 ms (cached) -Module mujoco_warp._src.smooth 6ec87e9 load on device 'cuda:0' took 1.36 ms (cached) -Module _small_cholesky_factorize_block__locals__kernel_688128d2 3a1ff3a load on device 'cuda:0' took 0.31 ms (cached) -Module _small_cholesky_factorize_block__locals__kernel_76d25309 797032f load on device 'cuda:0' took 0.28 ms (cached) -Module _small_cholesky_solve_block__locals__kernel_1e3f1516 c492a5b load on device 'cuda:0' took 0.28 ms (cached) -Module _small_cholesky_solve_block__locals__kernel_b7425cff b9bad6a load on device 'cuda:0' took 0.27 ms (cached) -Module create_eval_articulation_fk_tile__locals__eval_articulation_fk_tile_b12ad9e5 33f5a01 load on device 'cuda:0' took 0.53 ms (cached) -Module soil_zone 8795928 load on device 'cuda:0' took 0.74 ms (cached) -Module map_mul 4da365f load on device 'cuda:0' took 0.30 ms (cached) -Module soil_server d8198c9 load on device 'cuda:0' took 0.49 ms (cached) -Module excavator_server b3143cf load on device 'cuda:0' took 0.39 ms (cached) -Module newton._src.sim.collide f8ad45d load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.geometry.broad_phase_nxn 92014d2 load on device 'cuda:0' took 0.29 ms (cached) -Module narrow_phase_primitive_write_contact_False_False_False 3cf6427 load on device 'cuda:0' took 0.33 ms (cached) -Module narrow_phase_gjk_mpr_True_False_write_contact_support_map_lean_post_process_minkowski_only 7d090a1 load on device 'cuda:0' took 0.39 ms (cached) -Module newton._src.geometry.narrow_phase dde4959 load on device 'cuda:0' took 0.41 ms (cached) -Module mujoco_warp._src.constraint 9feb269 load on device 'cuda:0' took 0.29 ms (cached) -Module _friction_dof__locals__kernel_de3fc701 de3fc70 load on device 'cuda:0' took 0.32 ms (cached) -Module _limit_slide_hinge__locals__kernel_0914a21e 0914a21 load on device 'cuda:0' took 0.30 ms (cached) -Module _efc_contact_init__locals__kernel_2fbed541 2fbed54 load on device 'cuda:0' took 0.29 ms (cached) -Module _efc_contact_jac_dense__locals__kernel_1686fae4 bea9b8b load on device 'cuda:0' took 0.35 ms (cached) -Module _efc_contact_update__locals__kernel_a67f25cf a67f25c load on device 'cuda:0' took 0.29 ms (cached) -Module mujoco_warp._src.passive a2eea36 load on device 'cuda:0' took 0.43 ms (cached) -Module _qfrc_passive_kernel__locals__kernel_887f05a4 887f05a load on device 'cuda:0' took 0.28 ms (cached) -Module _qfrc_smooth__locals__kernel_5d93552d 5d93552 load on device 'cuda:0' took 0.27 ms (cached) -Module mujoco_warp._src.support 462b66b load on device 'cuda:0' took 0.27 ms (cached) -Module _small_cholesky_factorize_solve_block__locals__kernel_32267892 9d7a2a3 load on device 'cuda:0' took 0.29 ms (cached) -Module _small_cholesky_factorize_solve_block__locals__kernel_bbb3b6d0 7e9304f load on device 'cuda:0' took 0.28 ms (cached) -Module _solve_init_dof__locals__kernel_08db194e 08db194 load on device 'cuda:0' took 0.27 ms (cached) -Module mujoco_warp._src.solver ab57257 load on device 'cuda:0' took 0.38 ms (cached) -Module _solve_init_jaref_kernel__locals__kernel_7c525cac 7c525ca load on device 'cuda:0' took 0.29 ms (cached) -Module mul_m_kernel__locals___mul_m_2eb0ef19 2eb0ef1 load on device 'cuda:0' took 0.27 ms (cached) -Module _update_constraint_efc__locals__kernel_01e3395a 01e3395 load on device 'cuda:0' took 0.27 ms (cached) -Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_1f63a94a 1f63a94 load on device 'cuda:0' took 0.28 ms (cached) -Module _update_gradient_zero_grad_dot__locals__kernel_eeeb13da eeeb13d load on device 'cuda:0' took 0.27 ms (cached) -Module _update_gradient_grad__locals__kernel_9654ebd0 9654ebd load on device 'cuda:0' took 0.26 ms (cached) -Module _update_gradient_JTDAJ_dense_tiled__locals__kernel_42d95046 a1e3b32 load on device 'cuda:0' took 0.49 ms (cached) -Module _update_gradient_cholesky__locals__kernel_4248b06c d4ff837 load on device 'cuda:0' took 26.52 ms (cached) -Module _linesearch_iterative_kernel__locals__kernel_9e726ceb fad442d load on device 'cuda:0' took 0.45 ms (cached) -Module _update_constraint_efc__locals__kernel_81674199 8167419 load on device 'cuda:0' took 0.31 ms (cached) -Module _update_constraint_init_qfrc_constraint_dense__locals__kernel_8e350d39 8e350d3 load on device 'cuda:0' took 0.28 ms (cached) -Module _update_gradient_zero_grad_dot__locals__kernel_ba7e8e2f ba7e8e2 load on device 'cuda:0' took 0.27 ms (cached) -Module _update_gradient_grad__locals__kernel_4f2bb7a9 4f2bb7a load on device 'cuda:0' took 0.26 ms (cached) -Module _update_gradient_cholesky__locals__kernel_4c171783 4827da2 load on device 'cuda:0' took 26.54 ms (cached) -Module _solve_done__locals__kernel_8d3e2217 8d3e221 load on device 'cuda:0' took 0.38 ms (cached) -Module mujoco_warp._src.derivative 380fbcc load on device 'cuda:0' took 0.54 ms (cached) -Module mujoco_warp._src.forward 9883e25 load on device 'cuda:0' took 0.40 ms (cached) -Module _next_time_builder__locals___next_time_1cb22d2e 1cb22d2 load on device 'cuda:0' took 0.30 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_2fb7f2f1 60674ca load on device 'cuda:0' took 0.51 ms (cached) -Module newton._src.solvers.implicit_mpm.rasterized_collisions.world_position_33f2b610 f78fcaa load on device 'cuda:0' took 0.37 ms (cached) -Module newton._src.solvers.implicit_mpm.rasterized_collisions 6d32b59 load on device 'cuda:0' took 0.40 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.collision_weight_field_8c7a1ed7 c6a78c2 load on device 'cuda:0' took 0.34 ms (cached) -Module _bsr_accumulate_triplet_values_89c51218 7baeb9a load on device 'cuda:0' took 0.31 ms (cached) -Module warp._src.fem.quadrature.quadrature.dyn.quadrature_point_element_indices_d52fa04e ff44114 load on device 'cuda:0' took 0.34 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_e081b3ef ccc78d5 load on device 'cuda:0' took 0.34 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_c147b205 39f0a31 load on device 'cuda:0' took 0.35 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_velocity_apic_9dd4ac18 813b0f2 load on device 'cuda:0' took 0.34 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_mass_5fda8e19 ac3dcd8 load on device 'cuda:0' took 0.36 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_fea4d8fd 16d7ac5 load on device 'cuda:0' took 0.36 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_yield_parameters_6dcf6251 7dc048e load on device 'cuda:0' took 0.43 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_88c9ef37 0303b67 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_active_fraction_a5404331 06e1637 load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_99ecc7cf a3c8b39 load on device 'cuda:0' took 0.45 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_fraction_7c94db4e 0446aed load on device 'cuda:0' took 0.37 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_a649643f 454191e load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_collider_fraction_a5258c95 ac7d7fc load on device 'cuda:0' took 0.39 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_bdb78fbc 7f792ef load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.strain_delta_form_622b62c3 f655226 load on device 'cuda:0' took 0.34 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_6d221857 31482f3 load on device 'cuda:0' took 0.37 ms (cached) -Module warp.fem.integrate._identity_field_b5aa3f34 0ab4782 load on device 'cuda:0' took 0.50 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.integrate_particle_stress_d3464583 ca2f662 load on device 'cuda:0' took 0.34 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_b79d8313 7d87f73 load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.mass_form_bd277bc5 45a767e load on device 'cuda:0' took 0.35 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_bilinear_kernel_fn_f6d3cfb2 ad2be72 load on device 'cuda:0' took 0.36 ms (cached) -Module warp.sparse 52bbb2e load on device 'cuda:0' took 0.54 ms (cached) -Module _bsr_assign_copy_blocks_25808539 9673674 load on device 'cuda:0' took 0.31 ms (cached) -Module compute_eigenvalues_70d01c86 29a61fe load on device 'cuda:0' took 0.29 ms (cached) -Module inverse_scale_vector_e40af5d0 f052608 load on device 'cuda:0' took 0.31 ms (cached) -Module newton._src.solvers.implicit_mpm.contact_solver_kernels f1493cd load on device 'cuda:0' took 0.44 ms (cached) -Module _bsr_transpose_values_1d188087 aa92b67 load on device 'cuda:0' took 0.45 ms (cached) -Module make_bsr_mv_tiled_kernel__locals__bsr_mv_tiled_kernel_17fd668b 3f91fc9 load on device 'cuda:0' took 0.36 ms (cached) -Module make_bsr_mv_kernel__locals__bsr_mv_kernel_37b51eee bf7159b load on device 'cuda:0' took 0.32 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels 42c788a load on device 'cuda:0' took 0.71 ms (cached) -Module newton._src.solvers.implicit_mpm.solve_rheology 65415ca load on device 'cuda:0' took 0.42 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels c7bb17e load on device 'cuda:0' took 0.64 ms (cached) -Module newton._src.solvers.implicit_mpm.rheology_solver_kernels.dyn.gs_solve_kernel_impl_ba42a0de 8d2ccee load on device 'cuda:0' took 0.33 ms (cached) -Module newton._src.solvers.implicit_mpm.solve_rheology 92bb71d load on device 'cuda:0' took 0.52 ms (cached) -Module warp.fem.space.partition 4c5b150 load on device 'cuda:0' took 0.33 ms (cached) -Module scatter_field_dof_values_ec638f93 bde0ade load on device 'cuda:0' took 0.33 ms (cached) -Module warp.fem.integrate._identity_field_15c95b83 0df86d1 load on device 'cuda:0' took 0.35 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.update_particle_strains_40d97e08 13b8e25 load on device 'cuda:0' took 0.39 ms (cached) -Module newton._src.solvers.implicit_mpm.implicit_mpm_solver_kernels.advect_particles_2f248551 bfedeec load on device 'cuda:0' took 0.38 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_380959cb bb9f71e load on device 'cuda:0' took 0.49 ms (cached) -Module warp._src.fem.field.virtual.dyn.dispatch_linear_kernel_fn_ec304b85 25a078a load on device 'cuda:0' took 0.36 ms (cached) {"soil": "loam", "carriers": 1, "sim_s": 1500.0, "stopped_after_passes": null, "realtime_factor": 0.985, "loads": [{"carrier": 0, "departed_s": 129.8, "load_kg": 10774, "loading_s": 129.8, "passes": 7}, {"carrier": 0, "departed_s": 329.7, "load_kg": 10597, "loading_s": 142.8, "passes": 8}, {"carrier": 0, "departed_s": 537.8, "load_kg": 10503, "loading_s": 150.9, "passes": 8}, {"carrier": 0, "departed_s": 729.9, "load_kg": 11383, "loading_s": 134.8, "passes": 7}, {"carrier": 0, "departed_s": 899.8, "load_kg": 10886, "loading_s": 112.0, "passes": 6}, {"carrier": 0, "departed_s": 1097.9, "load_kg": 9408, "loading_s": 139.8, "passes": 8}], "trips": [{"depart_t": 129.82, "stages": {"loading": 129.82, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.55, "lower": 5.0, "return": 5.1, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 154, "away_s": 57.1}, {"depart_t": 329.72, "stages": {"loading": 142.8, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.65, "lower": 5.0, "return": 5.08, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 171, "away_s": 57.18}, {"depart_t": 537.8, "stages": {"loading": 150.9, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 3.82, "lower": 5.0, "return": 5.05, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 200, "away_s": 57.32}, {"depart_t": 729.9, "stages": {"loading": 134.78, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.72, "lower": 5.0, "return": 4.82, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 232, "away_s": 57.98}, {"depart_t": 899.85, "stages": {"loading": 111.97, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 5.02, "lower": 5.0, "return": 4.73, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 213, "away_s": 58.2}, {"depart_t": 1097.87, "stages": {"loading": 139.82, "drive out": 7.92, "turn to dump": 7.23, "reverse to dump": 4.27, "tip": 8.02, "dump": 4.5, "lower": 5.0, "return": 4.87, "turn to load": 7.22, "reverse in": 8.8}, "carry_back_kg": 281, "away_s": 57.81}], "delivered_t": 62.3, "loaded_t": 63.78, "loaded_t_per_hour": 153.1, "mean_departure_interval_s": 193.6, "t_per_hour": 149.5, "mean_load_kg": 10592.0, "mean_loading_s": 135.0, "carry_back_kg": [154, 171, 200, 232, 213, 281], "mean_away_s": 57.6, "excavator_wait_s": 244.1, "passes": 49, "spoil_settled_t": 61.87, "lost_particles": 2040, "pool_short": 0, "skipped": [], "carrier_wait_at_dump_s": 0.0, "carrier_wait_to_leave_s": 0.0, "carrier_wait_to_load_s": 0.0, "spot_empty_s": 345.6, "pit_left_t": 101.9, "pit_done": true, "faces": [[0.0, 0.0], [-20.0, 0.0], [10.0, 0.0], [-30.0, 0.0], [-10.0, 0.0], [20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-40.0, 0.0], [-30.0, 0.0], [-30.0, 0.0], [20.0, 0.0], [20.0, 0.0], [-30.0, 0.0], [10.0, 0.0], [10.0, 0.0], [20.0, 0.0], [20.0, 0.0], [20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-10.0, 0.0], [-20.0, 0.0], [-20.0, 0.0], [0.0, 0.0], [-10.0, 0.0], [0.0, 0.0], [10.0, 0.0], [0.0, 0.0]], "curl_gain_kg": 133, "mean_carried_kg": 1277, "mean_dumped_kg": 1148, "thin_passes": 3, "pass_log": [{"pass": 0, "t": 0.0, "face": [0.0, 0.0, 1.39], "dig_max_kg": 1111, "early_curl": true, "skips": 0, "at_swing_kg": 1071, "carried_kg": 1158, "left_kg": 14}, {"pass": 1, "t": 14.6, "face": [-20.0, 0.0, 1.37], "dig_max_kg": 1174, "early_curl": true, "skips": 0, "at_swing_kg": 1133, "carried_kg": 1164, "left_kg": 21}, {"pass": 2, "t": 29.7, "face": [10.0, 0.0, 1.35], "dig_max_kg": 1300, "early_curl": true, "skips": 0, "at_swing_kg": 1267, "carried_kg": 1354, "left_kg": 50}, {"pass": 3, "t": 45.0, "face": [-30.0, 0.0, 1.24], "dig_max_kg": 1283, "early_curl": true, "skips": 0, "at_swing_kg": 1232, "carried_kg": 1317, "left_kg": 32}, {"pass": 4, "t": 60.1, "face": [-10.0, 0.0, 1.2], "dig_max_kg": 1256, "early_curl": true, "skips": 0, "at_swing_kg": 994, "carried_kg": 1205, "left_kg": 101}, {"pass": 5, "t": 75.8, "face": [20.0, 0.0, 1.13], "dig_max_kg": 1426, "early_curl": true, "skips": 0, "at_swing_kg": 1293, "carried_kg": 1385, "left_kg": 380}, {"pass": 6, "t": 95.8, "face": [0.0, 0.0, 0.75], "dig_max_kg": 1300, "early_curl": false, "skips": 0, "at_swing_kg": 1269, "carried_kg": 1430, "left_kg": 376}, {"pass": 7, "t": 115.2, "face": [0.0, 0.0, 1.18], "dig_max_kg": 1393, "early_curl": true, "skips": 0, "at_swing_kg": 1306, "carried_kg": 1402, "left_kg": 70}, {"pass": 8, "t": 131.1, "face": [-20.0, 0.0, 0.68], "dig_max_kg": 1320, "early_curl": false, "skips": 0, "at_swing_kg": 1312, "carried_kg": 1261, "left_kg": 13}, {"pass": 9, "t": 194.4, "face": [-20.0, 0.0, 1.14], "dig_max_kg": 1363, "early_curl": true, "skips": 0, "at_swing_kg": 1063, "carried_kg": 1057, "left_kg": 17}, {"pass": 10, "t": 210.2, "face": [-10.0, 0.0, 0.57], "dig_max_kg": 1155, "early_curl": false, "skips": 0, "at_swing_kg": 1155, "carried_kg": 1322, "left_kg": 201}, {"pass": 11, "t": 225.3, "face": [-10.0, 0.0, 1.16], "dig_max_kg": 1387, "early_curl": true, "skips": 0, "at_swing_kg": 974, "carried_kg": 973, "left_kg": 31}, {"pass": 12, "t": 241.0, "face": [-40.0, 0.0, 0.52], "dig_max_kg": 988, "early_curl": false, "skips": 0, "at_swing_kg": 638, "carried_kg": 690, "left_kg": 53}, {"pass": 13, "t": 256.3, "face": [-30.0, 0.0, 0.55], "dig_max_kg": 1245, "early_curl": false, "skips": 0, "at_swing_kg": 1232, "carried_kg": 1261, "left_kg": 49}, {"pass": 14, "t": 271.4, "face": [-30.0, 0.0, 1.14], "dig_max_kg": 1567, "early_curl": false, "skips": 0, "at_swing_kg": 1518, "carried_kg": 1694, "left_kg": 426}, {"pass": 15, "t": 290.2, "face": [20.0, 0.0, 0.48], "dig_max_kg": 1523, "early_curl": false, "skips": 0, "at_swing_kg": 873, "carried_kg": 1054, "left_kg": 259}, {"pass": 16, "t": 311.8, "face": [20.0, 0.0, 0.96], "dig_max_kg": 1410, "early_curl": false, "skips": 0, "at_swing_kg": 1229, "carried_kg": 1239, "left_kg": 216}, {"pass": 17, "t": 331.0, "face": [-30.0, 0.0, 0.47], "dig_max_kg": 1570, "early_curl": false, "skips": 0, "at_swing_kg": 1750, "carried_kg": 1680, "left_kg": 24}, {"pass": 18, "t": 395.3, "face": [10.0, 0.0, 0.43], "dig_max_kg": 1570, "early_curl": false, "skips": 0, "at_swing_kg": 847, "carried_kg": 986, "left_kg": 112}, {"pass": 19, "t": 411.7, "face": [10.0, 0.0, 1.09], "dig_max_kg": 1432, "early_curl": false, "skips": 0, "at_swing_kg": 1382, "carried_kg": 1487, "left_kg": 25}, {"pass": 20, "t": 428.3, "face": [20.0, 0.0, 0.45], "dig_max_kg": 1402, "early_curl": false, "skips": 0, "at_swing_kg": 1258, "carried_kg": 1427, "left_kg": 64}, {"pass": 21, "t": 446.9, "face": [20.0, 0.0, 0.95], "dig_max_kg": 1264, "early_curl": false, "skips": 0, "at_swing_kg": 423, "carried_kg": 512, "left_kg": 49}, {"pass": 22, "t": 465.8, "face": [20.0, 0.0, 0.99], "dig_max_kg": 1380, "early_curl": true, "skips": 0, "at_swing_kg": 1149, "carried_kg": 1142, "left_kg": 95}, {"pass": 23, "t": 483.8, "face": [0.0, 0.0, 0.42], "dig_max_kg": 1162, "early_curl": false, "skips": 0, "at_swing_kg": 1096, "carried_kg": 1183, "left_kg": 459}, {"pass": 24, "t": 503.1, "face": [0.0, 0.0, 1.17], "dig_max_kg": 1460, "early_curl": false, "skips": 0, "at_swing_kg": 1285, "carried_kg": 1383, "left_kg": 112}, {"pass": 25, "t": 520.8, "face": [10.0, 0.0, 0.44], "dig_max_kg": 1316, "early_curl": false, "skips": 0, "at_swing_kg": 1233, "carried_kg": 1432, "left_kg": 205}, {"pass": 26, "t": 539.7, "face": [10.0, 0.0, 1.11], "dig_max_kg": 1469, "early_curl": false, "skips": 0, "at_swing_kg": 1653, "carried_kg": 1585, "left_kg": 64}, {"pass": 27, "t": 602.9, "face": [10.0, 0.0, 0.44], "dig_max_kg": 1564, "early_curl": false, "skips": 0, "at_swing_kg": 1552, "carried_kg": 1675, "left_kg": 37}, {"pass": 28, "t": 621.1, "face": [10.0, 0.0, 1.15], "dig_max_kg": 1564, "early_curl": false, "skips": 0, "at_swing_kg": 1393, "carried_kg": 1437, "left_kg": 28}, {"pass": 29, "t": 638.4, "face": [10.0, 0.0, 0.51], "dig_max_kg": 1439, "early_curl": false, "skips": 0, "at_swing_kg": 1431, "carried_kg": 1422, "left_kg": 24}, {"pass": 30, "t": 656.3, "face": [10.0, 0.0, 0.63], "dig_max_kg": 1793, "early_curl": false, 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"left_kg": 9}, {"pass": 43, "t": 981.7, "face": [-20.0, 0.0, 0.6], "dig_max_kg": 1597, "early_curl": false, "skips": 0, "at_swing_kg": 1594, "carried_kg": 1678, "left_kg": 15}, {"pass": 44, "t": 998.8, "face": [0.0, 0.0, 0.54], "dig_max_kg": 1597, "early_curl": false, "skips": 0, "at_swing_kg": 1203, "carried_kg": 1304, "left_kg": 55}, {"pass": 45, "t": 1017.0, "face": [-10.0, 0.0, 0.36], "dig_max_kg": 703, "early_curl": false, "skips": 0, "at_swing_kg": 648, "carried_kg": 799, "left_kg": 33}, {"pass": 46, "t": 1034.9, "face": [0.0, 0.0, 0.36], "dig_max_kg": 963, "early_curl": false, "skips": 0, "at_swing_kg": 963, "carried_kg": 1093, "left_kg": 120}, {"pass": 47, "t": 1053.2, "face": [10.0, 0.0, 0.35], "dig_max_kg": 955, "early_curl": false, "skips": 0, "at_swing_kg": 556, "carried_kg": 722, "left_kg": 391}, {"pass": 48, "t": 1076.5, "face": [0.0, 0.0, 0.34], "dig_max_kg": 537, "early_curl": false, "skips": 0, "at_swing_kg": 482, "carried_kg": 657, "left_kg": 135}], "dozer": {"passes": 26, "push_m": 161.59, "work_MJ": 2.26, "load_lifts": 27, "lifts_raised": 2, "parked_s": 923.9, "working_s": 576.12, "peak_kN": 69.69, "slip_s": 0.73, "futile_passes": 7, "mean_push_kN": [11.8, 20.4, 10.6, 11.1, 15.7, 22.5, 18.6, 7.5, 13.4, 20.5, 6.6, 2.8, 17.6, 12.3, 10.7, 14.4, 21.2, 6.0, 3.5, 19.6, 0.5, 18.3, 1.4, 1.6, 1.5, 0.8]}, "spread": {"design_z_above_ground": 0.9, "area_m2": 61.2, "covered_m2": 54.7, "rms_from_grade_m": 0.382, "max_above_grade_m": 1.49, "at_grade_fraction": 0.22, "unspread_m3": 1.3}}