Add kujiale_0004_multitask scene assets (part 2)

.gitattributes

@@ -233,3 +233,14 @@ assets/scenes/kujiale_0004/ac599fe2d2285ed0ddfafb70ba56e489462e0650/Meshes/windo
 assets/scenes/kujiale_0004/ac599fe2d2285ed0ddfafb70ba56e489462e0650/Meshes/window_0010.usd filter=lfs diff=lfs merge=lfs -text
 assets/scenes/kujiale_0004/ac599fe2d2285ed0ddfafb70ba56e489462e0650/Meshes/window_0011.usd filter=lfs diff=lfs merge=lfs -text
 assets/scenes/kujiale_0004/ac599fe2d2285ed0ddfafb70ba56e489462e0650/buikslotermeerplein_4k.hdr filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/reports/wide_doors/original/rooms/shared/fast.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/reports/wide_doors/original/rooms/shared/low.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/bedroom_765353/fast.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/bedroom_778247/fast.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/livingroom_763001/fast.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/livingroom_763001/low.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/shared/fast.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/shared/low.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/studyroom_763003/fast.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/unknown_786425/fast.usdc filter=lfs diff=lfs merge=lfs -text
+assets/scenes/kujiale_0004_multitask/rooms/unknown_786425/low.usdc filter=lfs diff=lfs merge=lfs -text

assets/scenes/kujiale_0004_multitask/reports/pillow_validation_before_scene_calibration.json

@@ -0,0 +1,1923 @@
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assets/scenes/kujiale_0004_multitask/reports/pillow_validation_calibrated_candidate.json

@@ -0,0 +1,1923 @@
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+}

assets/scenes/kujiale_0004_multitask/reports/pillow_validation_final_assets.log

@@ -0,0 +1,403 @@
+Starting kit application with the following args:  ['/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni/kit/plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps', '--/log/file=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/pillow_validation_final_assets_isaac.log', '--/physics/numThreads=8', '--enable', 'isaacsim.core.api', '--enable', 'isaacsim.sensors.camera', '--enable', 'omni.physx.fabric', '--/app/extensions/registryEnabled=false', '--/app/extensions/excluded=["isaacsim.robot.policy.examples"]', '--/app/settings/persistent=false', '--/app/settings/loadUserConfig=false', '--/exts/omni.kit.telemetry/enable=false', '--/crashreporter/enabled=false', '--/crashreporter/skipOldDumpUpload=true', '--/renderer/activeGpu=2', '--/physics/cudaDevice=2', '--/plugins/carb.tasking.plugin/threadCount=8', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=8', '--portable', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  ['--asset-dir', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_deformable/assets', '--asset-dir', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/assets', '--gpu', '2', '--tag', 'final_assets', '--inversion-sample-steps', '12']
+2026-10-15T16:23:25Z [Info] [carb] Logging to file: /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/pillow_validation_final_assets_isaac.log
+[0.249s] [ext: omni.assets.plugins-0.0.0] startup
+[0.251s] [ext: omni.blobkey-1.1.2] startup
+[0.251s] [ext: omni.kit.async_engine-0.0.3] startup
+[1.975s] [ext: omni.client.lib-1.1.1] startup
+[2.013s] [ext: omni.client-1.3.0] startup
+[2.026s] [ext: omni.protobuf.lib-1.0.1] startup
+[2.028s] [ext: omni.grpc.lib-1.0.0] startup
+[2.036s] [ext: omni.metrics.core-0.0.3] startup
+[2.037s] [ext: omni.datastore-0.0.0] startup
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792081407.057413 2078398 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792081407.057450 2078398 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+[2.039s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[2.043s] [ext: omni.hsscclient-1.1.4] startup
+[2.045s] [ext: omni.stats-1.0.1] startup
+[2.047s] [ext: omni.ujitso.default-1.0.0] startup
+[2.142s] [ext: omni.gpu_foundation-0.0.0] startup
+[2.457s] [ext: carb.windowing.plugins-1.0.1] startup
+[2.459s] [ext: omni.kit.renderer.init-1.0.1] startup
+2026-10-15T16:23:27Z [2,462ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 615.71.09     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | b1ccc317.. |
+|     |                                  |        |     |            | 35        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 5b4776e5.. |
+|     |                                  |        |     |            | 36        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ee47e4bd.. |
+|     |                                  |        |     |            | 39        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e2bdf6e1.. |
+|     |                                  |        |     |            | 3d        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4a60c7ee.. |
+|     |                                  |        |     |            | 9c        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 23fb4690.. |
+|     |                                  |        |     |            | 9d        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | cec698e7.. |
+|     |                                  |        |     |            | a0        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e80f09d2.. |
+|     |                                  |        |     |            | a4        |            |
+|=============================================================================================|
+| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 5.15.0-198-generic
+| Processor: Intel(R) Xeon(R) Silver 4314 CPU @ 2.40GHz
+| Cores: 32 | Logical Cores: 64
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 257568 | Free Memory: 240397
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 7995
+|---------------------------------------------------------------------------------------------|
+[7.157s] [ext: omni.kit.pipapi-0.0.0] startup
+[7.160s] [ext: omni.kit.telemetry-0.5.2] startup
+[7.234s] [ext: omni.kit.loop-isaac-1.6.2] startup
+[7.244s] [ext: omni.kit.test-2.1.1] startup
+[7.357s] [ext: omni.materialx.libs-1.0.9] startup
+[7.368s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[7.369s] [ext: omni.usd.config-1.0.8] startup
+[7.393s] [ext: omni.usd.libs-1.0.3] startup
+[7.536s] [ext: omni.iray.libs-0.0.1] startup
+[7.542s] [ext: omni.mdl-57.0.6] startup
+[7.658s] [ext: omni.mdl.neuraylib-0.2.22] startup
+[7.663s] [ext: omni.kit.usd.mdl-1.1.11] startup
+[7.811s] [ext: omni.appwindow-1.2.2] startup
+[7.815s] [ext: omni.kit.renderer.core-1.3.1] startup
+2026-10-15T16:23:32Z [7,786ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:23:32Z [7,786ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[7.874s] [ext: omni.kit.renderer.capture-2.0.1] startup
+[7.879s] [ext: omni.kit.renderer.imgui-2.1.0] startup
+2026-10-15T16:23:32Z [7,817ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:23:32Z [7,817ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-15T16:23:32Z [7,819ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:23:32Z [7,819ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[8.044s] [ext: omni.ui-3.3.1] startup
+[8.058s] [ext: omni.kit.mainwindow-1.0.4] startup
+[8.059s] [ext: carb.audio-0.1.0] startup
+[8.065s] [ext: omni.uiaudio-1.0.0] startup
+[8.066s] [ext: omni.kit.uiapp-0.0.0] startup
+[8.066s] [ext: omni.usd.schema.metrics.assembler-110.1.0] startup
+[8.071s] [ext: omni.usd.schema.audio-0.0.1] startup
+[8.075s] [ext: omni.usd_resolver-1.0.0] startup
+[8.080s] [ext: omni.usd.core-1.10.10] startup
+[8.085s] [ext: omni.metropolis.schema-0.0.3] startup
+[8.086s] [ext: isaacsim.anim.robot.schema-0.1.1] startup
+[8.087s] [ext: isaacsim.common-6.2.0] startup
+[8.088s] [ext: omni.usd.schema.anim-0.0.1] startup
+[8.115s] [ext: omni.usd.schema.geospatial-0.0.1] startup
+[8.120s] [ext: omni.usd.schema.omnigraph-1.0.1] startup
+[8.129s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[8.133s] [ext: omni.activity.core-1.0.4] startup
+[8.136s] [ext: omni.cubric-0.1.0] startup
+[8.136s] [ext: omni.graph.exec-0.9.6] startup
+[8.137s] [ext: omni.hydra.scene_delegate-0.3.5] startup
+[8.143s] [ext: usdrt.scenegraph-7.6.3] startup
+[8.186s] [ext: omni.hydra.usdrt_delegate-7.5.2] startup
+[8.196s] [ext: omni.inspect-1.0.2] startup
+[8.199s] [ext: omni.kit.actions.core-1.2.0] startup
+[8.204s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[8.206s] [ext: omni.kit.commands-1.5.0] startup
+[8.214s] [ext: omni.kit.exec.core-0.13.6] startup
+[8.217s] [ext: omni.kit.usd_undo-0.1.8] startup
+[8.218s] [ext: omni.kit.window.popup_dialog-2.0.26] startup
+[8.224s] [ext: omni.kit.widget.connection_manager-1.0.3] startup
+[8.237s] [ext: omni.timeline-1.1.0] startup
+[8.240s] [ext: omni.usd-1.18.0] startup
+[8.302s] [ext: omni.graph.core-3.1.5] startup
+[8.307s] [ext: omni.kit.notification_manager-1.0.16] startup
+[8.312s] [ext: isaacsim.core.deprecation_manager-0.4.4] startup
+[8.314s] [ext: isaacsim.replicator.agent.schema-0.1.1] startup
+[8.316s] [ext: isaacsim.robot.schema-7.0.2] startup
+[8.325s] [ext: isaacsim.robot_motion.schema-0.2.2] startup
+[8.327s] [ext: omni.anim.behavior.schema-110.3.0] startup
+[8.334s] [ext: omni.anim.graph.schema-110.3.0] startup
+[8.342s] [ext: omni.anim.navigation.schema-110.3.0] startup
+[8.347s] [ext: omni.behavior.tree.schema-110.3.0] startup
+[8.349s] [ext: omni.kit.asset_converter-6.0.5] startup
+2026-10-15T16:23:33Z [8,284ms] [Warning] [asset_converter_native_bindings._bootstrap] A different OpenUSD (pxr) build was already imported from /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.usd.libs-1.0.3+00c488ae.lx64.r.cp312/pxr before usd-convert-asset loaded. The host pxr bindings will remain in use rather than reloading the bundled OpenUSD at /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/lib/python/pxr, /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/python/pxr. Mixing USD builds in one process can cause ABI and singleton conflicts; prefer importing usd_convert_asset first, or run the converter in a separate process/venv when mixing unrelated USD builds.
+[8.371s] [ext: omni.usd.schema.flow-110.0.0] startup
+[8.372s] [ext: omni.usd.schema.newton-1.4.0] startup
+[8.374s] [ext: omni.usd.schema.mujoco-1.1.4] startup
+[8.376s] [ext: omni.usd.schema.omni_dome_light-1.0.0] startup
+[8.377s] [ext: omni.usd.schema.omni_lens_distortion-1.0.0] startup
+[8.378s] [ext: omni.usd.schema.omni_projectors-1.0.0] startup
+[8.379s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[8.390s] [ext: omni.usd.schema.omniscripting-1.0.1] startup
+[8.397s] [ext: omni.usd.schema.physical_lighting-0.1.0] startup
+[8.402s] [ext: omni.usd.schema.physx-110.3.2] startup
+[8.447s] [ext: omni.usd.schema.render_settings.rtx-1.0.3] startup
+[8.454s] [ext: omni.usd.schema.usd_particle_field-1.0.0] startup
+[8.455s] [ext: isaacsim.core.version-2.2.1] startup
+[8.466s] [ext: omni.kit.menu.core-1.3.0] startup
+[8.467s] [ext: omni.kit.menu.utils-2.2.8] startup
+[8.481s] [ext: isaacsim.app.about-2.3.2] startup
+[8.489s] [ext: isaacsim.asset.transformer-6.1.0] startup
+[8.495s] [ext: omni.scene.optimizer.core-110.2.1] startup
+[8.598s] [ext: isaacsim.asset.importer.utils-1.9.1] startup
+[8.606s] [ext: omni.convexdecomposition-110.3.2] startup
+[8.611s] [ext: omni.physics-110.3.2] startup
+[8.616s] [ext: omni.physx.gpu-110.3.2] startup
+[8.618s] [ext: omni.physx.foundation-110.3.2] startup
+[8.621s] [ext: omni.usdphysics-110.3.2] startup
+[8.625s] [ext: omni.physx.cooking-110.3.2] startup
+[8.629s] [ext: omni.physx-110.3.2] startup
+[8.652s] [ext: omni.physics.physx-110.3.2] startup
+[8.656s] [ext: isaacsim.asset.exporter.urdf-2.2.6] startup
+[8.670s] [ext: omni.kit.clipboard-1.1.1] startup
+[8.672s] [ext: omni.kit.usd.layers-2.7.2] startup
+[8.686s] [ext: omni.kit.widget.context_menu-1.5.0] startup
+[8.691s] [ext: omni.kit.context_menu-1.10.0] startup
+[8.695s] [ext: omni.kit.helper.file_utils-0.1.10] startup
+[8.698s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
+[8.700s] [ext: omni.kit.search_core-1.0.8] startup
+[8.702s] [ext: omni.kit.widget.path_field-2.0.13] startup
+[8.705s] [ext: omni.kit.widget.browser_bar-2.0.11] startup
+[8.707s] [ext: omni.kit.widget.filebrowser-2.14.0] startup
+[8.717s] [ext: omni.kit.widget.nucleus_connector-2.4.0] startup
+[8.718s] [ext: omni.kit.widget.options_menu-1.1.7] startup
+[8.724s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[8.726s] [ext: omni.kit.widget.search_delegate-1.0.10] startup
+[8.729s] [ext: omni.ui.scene-2.0.4] startup
+[8.736s] [ext: omni.kit.window.filepicker-3.0.14] startup
+[8.769s] [ext: omni.kit.window.file_importer-1.1.22] startup
+[8.772s] [ext: omni.kit.material.library-3.1.7] startup
+[8.783s] [ext: isaacsim.asset.transformer.rules-1.7.18] startup
+[8.805s] [ext: omni.usdex.libs-2.3.0] startup
+[8.819s] [ext: isaacsim.asset.importer.mjcf-3.12.1] startup
+[8.868s] [ext: omni.kit.primitive.mesh-1.1.1] startup
+[8.875s] [ext: omni.kit.stage_template.core-1.1.23] startup
+[8.876s] [ext: omni.kit.stage_templates-2.0.3] startup
+[8.883s] [ext: omni.usd.metrics.assembler-110.1.2] startup
+[8.888s] [ext: omni.warp.core-1.16.0] startup
+[9.146s] [ext: isaacsim.core.experimental.utils-0.23.0] startup
+[9.149s] [ext: isaacsim.asset.importer.urdf-3.11.10] startup
+[9.157s] [ext: omni.physics.stageupdate-110.3.2] startup
+[9.162s] [ext: omni.physics.tensors-110.3.2] startup
+[9.171s] [ext: omni.physx.tensors-110.3.2] startup
+[9.190s] [ext: isaacsim.core.simulation_manager-1.17.1] startup
+[9.214s] [ext: isaacsim.storage.native-1.11.0] startup
+[9.218s] [ext: omni.usd.metrics.assembler.physics-110.3.2] startup
+[9.221s] [ext: isaacsim.core.utils-4.1.9] startup
+[9.227s] [ext: isaacsim.core.prims-0.11.7] startup
+[11.303s] [ext: isaacsim.core.api-5.3.2] startup
+[11.323s] [ext: isaacsim.core.cloner-1.7.5] startup
+[11.327s] [ext: isaacsim.test.docstring-1.3.2] startup
+[11.335s] [ext: isaacsim.core.experimental.prims-1.10.8] startup
+[11.363s] [ext: isaacsim.core.experimental.primdata-0.3.6] startup
+[11.367s] [ext: omni.graph.tools-1.81.0] startup
+[11.418s] [ext: omni.graph-1.142.5] startup
+[11.486s] [ext: isaacsim.core.experimental.actuators-0.1.6] startup
+[11.514s] [ext: isaacsim.core.experimental.materials-0.10.0] startup
+[11.522s] [ext: isaacsim.core.experimental.objects-0.9.0] startup
+[11.647s] [ext: omni.hydra.engine.stats-1.0.5] startup
+[11.652s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[11.655s] [ext: omni.index.libs-392300.961.0] startup
+[11.655s] [ext: omni.index-1.0.1] startup
+[11.656s] [ext: omni.ujitso.client-0.0.0] startup
+[11.657s] [ext: omni.usd.schema.playback-1.1.0] startup
+[11.659s] [ext: omni.volume-0.5.2] startup
+[11.668s] [ext: omni.hydra.rtx-1.0.4] startup
+2026-10-15T16:23:36Z [11,623ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[11.724s] [ext: omni.kit.hydra_texture-1.6.2] startup
+[11.731s] [ext: omni.kit.raycast.query-1.2.0] startup
+[11.739s] [ext: omni.kit.viewport.legacy_gizmos-1.0.24] startup
+[11.744s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[11.746s] [ext: omni.kit.viewport.scene_camera_model-1.0.7] startup
+[11.753s] [ext: omni.kit.widget.viewport-110.0.0] startup
+[11.761s] [ext: omni.kit.window.drop_support-1.0.8] startup
+[11.763s] [ext: omni.kit.viewport.window-110.0.1] startup
+[11.793s] [ext: omni.kit.viewport.utility-2.1.0] startup
+[11.795s] [ext: isaacsim.core.rendering_manager-0.5.1] startup
+[11.812s] [ext: omni.graph.action_core-1.1.9] startup
+[11.816s] [ext: omni.graph.action_nodes_core-2.11.0] startup
+[11.822s] [ext: omni.graph.action_nodes-2.11.0] startup
+[11.866s] [ext: omni.graph.action-2.10.2] startup
+[11.868s] [ext: omni.graph.image.core-0.6.1] startup
+[11.870s] [ext: omni.graph.image.nodes-1.3.2] startup
+[11.872s] [ext: omni.graph.nodes_core-2.11.0] startup
+[11.881s] [ext: omni.graph.nodes-2.12.0] startup
+[11.891s] [ext: omni.kit.hotkeys.core-1.4.0] startup
+[11.892s] [ext: omni.kit.property.adapter.core-1.1.1] startup
+[11.898s] [ext: omni.kit.property.adapter.usd-1.0.6] startup
+[11.902s] [ext: omni.kit.widget.filter-1.1.8] startup
+[11.904s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[11.906s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[11.909s] [ext: omni.kit.window.file_exporter-1.0.38] startup
+[11.911s] [ext: omni.kit.widget.stage-4.6.5] startup
+[11.931s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[11.933s] [ext: omni.kit.window.file-2.0.15] startup
+[11.940s] [ext: omni.kit.window.content_browser-3.1.12] startup
+[11.957s] [ext: omni.kit.window.property-1.15.2] startup
+[11.989s] [ext: omni.kit.property.usd-4.9.14] startup
+[12.009s] [ext: omni.graph.scriptnode-2.10.2] startup
+[12.026s] [ext: omni.kit.widget.searchable_combobox-1.0.7] startup
+[12.029s] [ext: omni.kit.widget.settings-2.0.1] startup
+[12.032s] [ext: omni.kit.window.preferences-1.8.5] startup
+[12.045s] [ext: omni.kit.viewport.menubar.core-110.0.3] startup
+[12.073s] [ext: omni.syntheticdata-0.6.17] startup
+[12.120s] [ext: omni.replicator.nv-1.1.6] startup
+[12.130s] [ext: omni.videoencoding-0.2.1] startup
+[12.134s] [ext: omni.replicator.core-1.13.36] startup
+2026-10-15T16:23:37Z [12,085ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.4
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:1"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:2"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:3"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:4"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:5"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:6"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:7"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   CUDA peer access:
+     Not supported
+   Kernel cache:
+     /home/myx/.cache/warp/1.16.0
+2026-10-15T16:23:37Z [12,202ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[12.468s] [ext: isaacsim.core.nodes-5.10.13] startup
+[12.528s] [ext: isaacsim.core.throttling-2.3.7] startup
+[12.531s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[12.534s] [ext: omni.graph.visualization.nodes-2.1.4] startup
+[12.563s] [ext: omni.kit.window.extensions-1.5.16] startup
+[12.576s] [ext: isaacsim.gui.components-1.8.9] startup
+[12.586s] [ext: isaacsim.robot.surface_gripper-3.6.3] startup
+[12.610s] [ext: isaacsim.robot.manipulators-3.4.5] startup
+[12.632s] [ext: isaacsim.robot_motion.lula-4.1.4] startup
+[12.645s] [ext: isaacsim.robot_motion.motion_generation-8.2.9] startup
+[12.662s] [ext: isaacsim.cortex.framework-1.0.20] startup
+[12.665s] [ext: isaacsim.cortex.behaviors-2.0.18] startup
+[12.669s] [ext: omni.kit.search.files-1.0.4] startup
+[12.671s] [ext: omni.kit.widget.calendar-1.0.9] startup
+[12.674s] [ext: omni.kit.widget.extended_searchfield-1.0.31] startup
+[12.693s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[12.695s] [ext: omni.simready.content.browser-0.3.8] startup
+[12.888s] [ext: isaacsim.gui.content_browser-0.5.1] startup
+[12.894s] [ext: omni.kit.selection-0.1.6] startup
+[12.897s] [ext: isaacsim.gui.menu-2.10.12] startup
+[12.916s] [ext: isaacsim.gui.property-1.6.4] startup
+[12.930s] [ext: omni.kit.viewport.actions-110.1.0] startup
+[12.940s] [ext: omni.kit.viewport.menubar.display-110.0.0] startup
+[12.944s] [ext: isaacsim.gui.sensors.icon-2.2.4] startup
+[12.952s] [ext: omni.behavior.scripting.core-110.3.0] startup
+[12.958s] [ext: isaacsim.replicator.behavior-1.6.2] startup
+[12.972s] [ext: isaacsim.replicator.experimental.domain_randomization-1.2.10] startup
+[13.057s] [ext: isaacsim.replicator.domain_randomization-1.2.3] startup
+[13.177s] [ext: isaacsim.replicator.writers-1.5.6] startup
+[13.236s] [ext: isaacsim.robot.experimental.wheeled_robots-0.2.14] startup
+[13.282s] [ext: isaacsim.robot.wheeled_robots-5.2.5] startup
+[13.292s] [ext: isaacsim.robot.wheeled_robots.nodes-0.1.12] startup
+[13.336s] [ext: isaacsim.robot_motion.experimental.motion_generation-7.1.2] startup
+[13.357s] [ext: isaacsim.robot_motion.controllers-0.3.2] startup
+[13.376s] [ext: isaacsim.robot_motion.cumotion-1.4.0] startup
+[13.400s] [ext: omni.kit.numpy.common-0.1.3] startup
+[13.403s] [ext: omni.rtx.spg-0.4.0] startup
+[13.412s] [ext: omni.sensors.nv.camera-1.0.0] startup
+[13.425s] [ext: isaacsim.sensors.camera-1.7.13] startup
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+2026-10-15T16:23:45Z [20,029ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels.
+2026-10-15T16:23:45Z [20,380ms] [Warning] [omni.fabric.plugin] Unsupported type encountered during VtValue extraction
+2026-10-15T16:23:45Z [20,380ms] [Warning] [omni.fabric.plugin] Attempting to set an invalid data source to array attribute
+
+2026-10-15T16:23:46Z [21,161ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/M_BaseMaterial_twosided.mdl(278,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-15T16:23:46Z [21,303ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/rongbu2.mdl(65,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-15T16:23:47Z [22,396ms] [Warning] [omni.physx.plugin] Detected an articulation at /World/Press_pillow_0000 with more than 4 velocity iterations being added to a TGS scene.The related behavior changed recently, please consult the changelog. This warning will only print once.
+2026-10-15T16:23:47Z [22,653ms] [Warning] [omni.hydra] Mesh '/World/pillow_0005/Visual/part_0000' update topology/point without updating normal, fallback to smooth normal.
+2026-10-15T16:23:48Z [23,670ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
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+PILLOW_VALIDATION /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/pillow_validation_final_assets.json pass
+[138.087s] Simulation App Shutting Down

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assets/scenes/kujiale_0004_multitask/reports/pillow_validation_large_96_e20k_states.npz

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+size 3577297

assets/scenes/kujiale_0004_multitask/reports/pillow_validation_pillow7_96_e15k.json

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assets/scenes/kujiale_0004_multitask/reports/pillow_validation_pillow7_96_e15k_states.npz

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assets/scenes/kujiale_0004_multitask/reports/probe_radius_collision_probe.log

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+Starting kit application with the following args:  ['/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni/kit/plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps', '--/app/extensions/registryEnabled=false', '--/exts/omni.kit.telemetry/enable=false', '--/crashreporter/enabled=false', '--/renderer/activeGpu=2', '--/physics/cudaDevice=2', '--/plugins/carb.tasking.plugin/threadCount=16', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=16', '--portable', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  []
+2026-10-15T16:01:52Z [Info] [carb] Logging to file: /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim Python/6.1/kit_20261015_160152.log
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+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
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+W0000 00:00:1792080114.657136 2071387 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
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+2026-10-15T16:01:55Z [2,609ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 615.71.09     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
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+|     |                                  |        |     |            | 2684      | b1ccc317.. |
+|     |                                  |        |     |            | 35        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 5b4776e5.. |
+|     |                                  |        |     |            | 36        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ee47e4bd.. |
+|     |                                  |        |     |            | 39        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e2bdf6e1.. |
+|     |                                  |        |     |            | 3d        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4a60c7ee.. |
+|     |                                  |        |     |            | 9c        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 23fb4690.. |
+|     |                                  |        |     |            | 9d        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | cec698e7.. |
+|     |                                  |        |     |            | a0        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e80f09d2.. |
+|     |                                  |        |     |            | a4        |            |
+|=============================================================================================|
+| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 5.15.0-198-generic
+| Processor: Intel(R) Xeon(R) Silver 4314 CPU @ 2.40GHz
+| Cores: 32 | Logical Cores: 64
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 257568 | Free Memory: 242142
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 7995
+|---------------------------------------------------------------------------------------------|
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+2026-10-15T16:01:58Z [5,732ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.831s] [ext: omni.kit.renderer.capture-2.0.1] startup
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+2026-10-15T16:01:58Z [5,759ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:01:58Z [5,759ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-15T16:01:58Z [5,761ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:01:58Z [5,761ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.946s] [ext: omni.ui-3.3.1] startup
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+[6.217s] [ext: omni.behavior.tree.schema-110.3.0] startup
+[6.218s] [ext: omni.kit.asset_converter-6.0.5] startup
+2026-10-15T16:01:58Z [6,141ms] [Warning] [asset_converter_native_bindings._bootstrap] A different OpenUSD (pxr) build was already imported from /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.anim.behavior.schema-110.3.0+110.3.0.lx64.r.cp312.u7f4/pxr before usd-convert-asset loaded. The host pxr bindings will remain in use rather than reloading the bundled OpenUSD at /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/lib/python/pxr, /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/python/pxr. Mixing USD builds in one process can cause ABI and singleton conflicts; prefer importing usd_convert_asset first, or run the converter in a separate process/venv when mixing unrelated USD builds.
+[6.237s] [ext: omni.usd.schema.flow-110.0.0] startup
+[6.238s] [ext: omni.usd.schema.newton-1.4.0] startup
+[6.239s] [ext: omni.usd.schema.mujoco-1.1.4] startup
+[6.241s] [ext: omni.usd.schema.omni_dome_light-1.0.0] startup
+[6.241s] [ext: omni.usd.schema.omni_lens_distortion-1.0.0] startup
+[6.242s] [ext: omni.usd.schema.omni_projectors-1.0.0] startup
+[6.243s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[6.254s] [ext: omni.usd.schema.omniscripting-1.0.1] startup
+[6.260s] [ext: omni.usd.schema.physical_lighting-0.1.0] startup
+[6.265s] [ext: omni.usd.schema.physx-110.3.2] startup
+[6.306s] [ext: omni.usd.schema.render_settings.rtx-1.0.3] startup
+[6.313s] [ext: omni.usd.schema.usd_particle_field-1.0.0] startup
+[6.314s] [ext: isaacsim.core.version-2.2.1] startup
+[6.326s] [ext: omni.kit.menu.core-1.3.0] startup
+[6.327s] [ext: omni.kit.menu.utils-2.2.8] startup
+[6.337s] [ext: isaacsim.app.about-2.3.2] startup
+[6.344s] [ext: isaacsim.asset.transformer-6.1.0] startup
+[6.348s] [ext: omni.scene.optimizer.core-110.2.1] startup
+[6.442s] [ext: isaacsim.asset.importer.utils-1.9.1] startup
+[6.447s] [ext: omni.convexdecomposition-110.3.2] startup
+[6.451s] [ext: omni.physics-110.3.2] startup
+[6.455s] [ext: omni.physx.gpu-110.3.2] startup
+[6.456s] [ext: omni.physx.foundation-110.3.2] startup
+[6.459s] [ext: omni.usdphysics-110.3.2] startup
+[6.462s] [ext: omni.physx.cooking-110.3.2] startup
+[6.466s] [ext: omni.physx-110.3.2] startup
+[6.493s] [ext: omni.physics.physx-110.3.2] startup
+[6.496s] [ext: isaacsim.asset.exporter.urdf-2.2.6] startup
+[6.509s] [ext: omni.kit.clipboard-1.1.1] startup
+[6.510s] [ext: omni.kit.usd.layers-2.7.2] startup
+[6.522s] [ext: omni.kit.widget.context_menu-1.5.0] startup
+[6.525s] [ext: omni.kit.context_menu-1.10.0] startup
+[6.527s] [ext: omni.kit.helper.file_utils-0.1.10] startup
+[6.529s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
+[6.530s] [ext: omni.kit.search_core-1.0.8] startup
+[6.531s] [ext: omni.kit.widget.path_field-2.0.13] startup
+[6.532s] [ext: omni.kit.widget.browser_bar-2.0.11] startup
+[6.533s] [ext: omni.kit.widget.filebrowser-2.14.0] startup
+[6.540s] [ext: omni.kit.widget.nucleus_connector-2.4.0] startup
+[6.541s] [ext: omni.kit.widget.options_menu-1.1.7] startup
+[6.545s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[6.546s] [ext: omni.kit.widget.search_delegate-1.0.10] startup
+[6.547s] [ext: omni.ui.scene-2.0.4] startup
+[6.554s] [ext: omni.kit.window.filepicker-3.0.14] startup
+[6.577s] [ext: omni.kit.window.file_importer-1.1.22] startup
+[6.580s] [ext: omni.kit.material.library-3.1.7] startup
+[6.588s] [ext: isaacsim.asset.transformer.rules-1.7.18] startup
+[6.605s] [ext: omni.usdex.libs-2.3.0] startup
+[6.618s] [ext: isaacsim.asset.importer.mjcf-3.12.1] startup
+[6.621s] [ext: omni.kit.primitive.mesh-1.1.1] startup
+[6.625s] [ext: omni.kit.stage_template.core-1.1.23] startup
+[6.626s] [ext: omni.kit.stage_templates-2.0.3] startup
+[6.629s] [ext: omni.usd.metrics.assembler-110.1.2] startup
+[6.634s] [ext: omni.warp.core-1.16.0] startup
+[6.884s] [ext: isaacsim.core.experimental.utils-0.23.0] startup
+[6.887s] [ext: isaacsim.asset.importer.urdf-3.11.10] startup
+[6.893s] [ext: omni.physics.stageupdate-110.3.2] startup
+[6.896s] [ext: omni.physics.tensors-110.3.2] startup
+[6.903s] [ext: omni.physx.tensors-110.3.2] startup
+[6.915s] [ext: isaacsim.core.simulation_manager-1.17.1] startup
+[6.934s] [ext: isaacsim.storage.native-1.11.0] startup
+[6.936s] [ext: omni.usd.metrics.assembler.physics-110.3.2] startup
+[6.939s] [ext: isaacsim.core.utils-4.1.9] startup
+[6.943s] [ext: isaacsim.core.prims-0.11.7] startup
+[8.798s] [ext: isaacsim.core.api-5.3.2] startup
+[8.809s] [ext: isaacsim.core.cloner-1.7.5] startup
+[8.812s] [ext: isaacsim.test.docstring-1.3.2] startup
+[8.818s] [ext: isaacsim.core.experimental.prims-1.10.8] startup
+[8.842s] [ext: isaacsim.core.experimental.primdata-0.3.6] startup
+[8.846s] [ext: omni.graph.tools-1.81.0] startup
+[8.879s] [ext: omni.graph-1.142.5] startup
+[8.932s] [ext: isaacsim.core.experimental.actuators-0.1.6] startup
+[8.959s] [ext: isaacsim.core.experimental.materials-0.10.0] startup
+[8.965s] [ext: isaacsim.core.experimental.objects-0.9.0] startup
+[9.071s] [ext: omni.hydra.engine.stats-1.0.5] startup
+[9.075s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[9.077s] [ext: omni.index.libs-392300.961.0] startup
+[9.078s] [ext: omni.index-1.0.1] startup
+[9.079s] [ext: omni.ujitso.client-0.0.0] startup
+[9.079s] [ext: omni.usd.schema.playback-1.1.0] startup
+[9.081s] [ext: omni.volume-0.5.2] startup
+[9.088s] [ext: omni.hydra.rtx-1.0.4] startup
+2026-10-15T16:02:01Z [9,032ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[9.141s] [ext: omni.kit.hydra_texture-1.6.2] startup
+[9.147s] [ext: omni.kit.raycast.query-1.2.0] startup
+[9.155s] [ext: omni.kit.viewport.legacy_gizmos-1.0.24] startup
+[9.159s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[9.161s] [ext: omni.kit.viewport.scene_camera_model-1.0.7] startup
+[9.168s] [ext: omni.kit.widget.viewport-110.0.0] startup
+[9.174s] [ext: omni.kit.window.drop_support-1.0.8] startup
+[9.175s] [ext: omni.kit.viewport.window-110.0.1] startup
+[9.200s] [ext: omni.kit.viewport.utility-2.1.0] startup
+[9.202s] [ext: isaacsim.core.rendering_manager-0.5.1] startup
+[9.217s] [ext: omni.graph.action_core-1.1.9] startup
+[9.221s] [ext: omni.graph.action_nodes_core-2.11.0] startup
+[9.226s] [ext: omni.graph.action_nodes-2.11.0] startup
+[9.266s] [ext: omni.graph.action-2.10.2] startup
+[9.268s] [ext: omni.graph.image.core-0.6.1] startup
+[9.270s] [ext: omni.graph.image.nodes-1.3.2] startup
+[9.271s] [ext: omni.graph.nodes_core-2.11.0] startup
+[9.280s] [ext: omni.graph.nodes-2.12.0] startup
+[9.290s] [ext: omni.kit.hotkeys.core-1.4.0] startup
+[9.291s] [ext: omni.kit.property.adapter.core-1.1.1] startup
+[9.296s] [ext: omni.kit.property.adapter.usd-1.0.6] startup
+[9.298s] [ext: omni.kit.widget.filter-1.1.8] startup
+[9.300s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[9.301s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[9.303s] [ext: omni.kit.window.file_exporter-1.0.38] startup
+[9.305s] [ext: omni.kit.widget.stage-4.6.5] startup
+[9.319s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[9.321s] [ext: omni.kit.window.file-2.0.15] startup
+[9.327s] [ext: omni.kit.window.content_browser-3.1.12] startup
+[9.344s] [ext: omni.kit.window.property-1.15.2] startup
+[9.376s] [ext: omni.kit.property.usd-4.9.14] startup
+[9.396s] [ext: omni.graph.scriptnode-2.10.2] startup
+[9.413s] [ext: omni.kit.widget.searchable_combobox-1.0.7] startup
+[9.416s] [ext: omni.kit.widget.settings-2.0.1] startup
+[9.420s] [ext: omni.kit.window.preferences-1.8.5] startup
+[9.433s] [ext: omni.kit.viewport.menubar.core-110.0.3] startup
+[9.461s] [ext: omni.syntheticdata-0.6.17] startup
+[9.509s] [ext: omni.replicator.nv-1.1.6] startup
+[9.519s] [ext: omni.videoencoding-0.2.1] startup
+[9.523s] [ext: omni.replicator.core-1.13.36] startup
+2026-10-15T16:02:02Z [9,462ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.4
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:1"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:2"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:3"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:4"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:5"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:6"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:7"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   CUDA peer access:
+     Not supported
+   Kernel cache:
+     /home/myx/.cache/warp/1.16.0
+2026-10-15T16:02:02Z [9,577ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[9.892s] [ext: isaacsim.core.nodes-5.10.13] startup
+[9.951s] [ext: isaacsim.core.throttling-2.3.7] startup
+[9.955s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[9.957s] [ext: omni.graph.visualization.nodes-2.1.4] startup
+[9.986s] [ext: omni.kit.window.extensions-1.5.16] startup
+[9.999s] [ext: isaacsim.gui.components-1.8.9] startup
+[10.009s] [ext: isaacsim.robot.surface_gripper-3.6.3] startup
+[10.031s] [ext: isaacsim.robot.manipulators-3.4.5] startup
+[10.052s] [ext: isaacsim.robot_motion.lula-4.1.4] startup
+[10.063s] [ext: isaacsim.robot_motion.motion_generation-8.2.9] startup
+[10.078s] [ext: isaacsim.cortex.framework-1.0.20] startup
+[10.081s] [ext: isaacsim.cortex.behaviors-2.0.18] startup
+[10.085s] [ext: isaacsim.examples.base-1.3.4] startup
+[10.091s] [ext: omni.kit.widget.zoombar-1.0.7] startup
+[10.093s] [ext: omni.kit.browser.core-2.3.18] startup
+[10.102s] [ext: omni.kit.browser.folder.core-2.0.3] startup
+[10.113s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[10.115s] [ext: omni.kit.window.stage-2.6.1] startup
+[10.122s] [ext: omni.kit.menu.stage-1.2.7] startup
+[10.125s] [ext: omni.kit.usd.collect-3.0.6] startup
+[10.130s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[10.132s] [ext: omni.kit.tool.collect-2.2.19] startup
+[10.137s] [ext: isaacsim.examples.browser-0.3.4] startup
+[10.143s] [ext: omni.kit.search.files-1.0.4] startup
+[10.145s] [ext: omni.kit.widget.calendar-1.0.9] startup
+[10.148s] [ext: omni.kit.widget.extended_searchfield-1.0.31] startup
+[10.166s] [ext: omni.simready.content.browser-0.3.8] startup
+[10.356s] [ext: isaacsim.gui.content_browser-0.5.1] startup
+[10.362s] [ext: omni.kit.selection-0.1.6] startup
+[10.365s] [ext: isaacsim.gui.menu-2.10.12] startup
+[10.384s] [ext: isaacsim.gui.property-1.6.4] startup
+[10.397s] [ext: omni.kit.viewport.actions-110.1.0] startup
+[10.404s] [ext: omni.kit.viewport.menubar.display-110.0.0] startup
+[10.408s] [ext: isaacsim.gui.sensors.icon-2.2.4] startup
+[10.415s] [ext: omni.behavior.scripting.core-110.3.0] startup
+[10.422s] [ext: isaacsim.replicator.behavior-1.6.2] startup
+[10.437s] [ext: isaacsim.replicator.experimental.domain_randomization-1.2.10] startup
+[10.471s] [ext: isaacsim.replicator.domain_randomization-1.2.3] startup
+[10.593s] [ext: isaacsim.replicator.writers-1.5.6] startup
+[10.646s] [ext: isaacsim.robot.experimental.wheeled_robots-0.2.14] startup
+[10.688s] [ext: isaacsim.robot_motion.experimental.motion_generation-7.1.2] startup
+[10.707s] [ext: isaacsim.robot.policy.examples-7.2.0] startup
+[12.477s] [ext: isaacsim.robot.wheeled_robots-5.2.5] startup
+[12.487s] [ext: isaacsim.robot.wheeled_robots.nodes-0.1.12] startup
+[12.529s] [ext: isaacsim.robot_motion.controllers-0.3.2] startup
+[12.547s] [ext: isaacsim.robot_motion.cumotion-1.4.0] startup
+[12.570s] [ext: omni.kit.numpy.common-0.1.3] startup
+[12.572s] [ext: omni.rtx.spg-0.4.0] startup
+[12.581s] [ext: omni.sensors.nv.camera-1.0.0] startup
+[12.592s] [ext: isaacsim.sensors.camera-1.7.13] startup
+[12.634s] [ext: isaacsim.sensors.experimental.physics-3.3.0] startup
+[12.650s] [ext: omni.sensors.net-1.0.1] startup
+[12.655s] [ext: omni.sensors.nv.common-3.0.0] startup
+[12.676s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[12.683s] [ext: omni.sensors.nv.acoustic-3.0.0] startup
+[12.688s] [ext: omni.sensors.nv.ids-2.0.1] startup
+[12.691s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[12.699s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[12.705s] [ext: isaacsim.sensors.experimental.rtx-1.9.0] startup
+[13.074s] [ext: isaacsim.sensors.physics.nodes-1.6.2] startup
+[13.086s] [ext: isaacsim.util.debug_draw-3.2.6] startup
+[13.097s] [ext: isaacsim.sensors.physx-2.5.7] startup
+[13.112s] [ext: isaacsim.sensors.rtx-15.17.5] startup
+[13.134s] [ext: isaacsim.simulation_app-2.19.0] startup
+[13.135s] [ext: omni.anim.curve.core-1.6.1] startup
+[13.152s] [ext: omni.graph.ui_nodes-2.11.1] startup
+[13.208s] [ext: omni.kit.manipulator.camera-110.1.0] startup
+[13.216s] [ext: omni.kit.manipulator.selector-1.1.4] startup
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+[13.227s] [ext: omni.kit.widget.toolbar-2.1.0] startup
+[13.240s] [ext: omni.kit.manipulator.tool.snap-1.5.15] startup
+[13.248s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[13.252s] [ext: omni.kit.manipulator.prim.core-108.0.2] startup
+[13.263s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[13.266s] [ext: omni.kit.manipulator.prim-108.0.0] startup
+[13.266s] [ext: omni.kit.manipulator.selection-110.0.0] startup
+[13.269s] [ext: omni.kit.menu.create-2.0.2] startup
+[13.272s] [ext: omni.kit.property.audio-1.0.18] startup
+[13.279s] [ext: omni.kit.property.camera-1.0.14] startup
+[13.282s] [ext: omni.kit.property.geometry-2.1.2] startup
+[13.288s] [ext: omni.kit.property.light-1.0.16] startup
+[13.367s] [ext: omni.kit.property.material-1.14.10] startup
+[13.384s] [ext: omni.kit.property.render-1.2.2] startup
+[13.386s] [ext: omni.kit.property.transform-1.6.12] startup
+[13.392s] [ext: omni.kit.property.bundle-1.5.2] startup
+[13.396s] [ext: omni.kit.usdz_export-1.1.1] startup
+[13.401s] [ext: omni.kit.tool.asset_importer-6.0.2] startup
+[13.411s] [ext: omni.kit.ui.actions-1.0.5] startup
+[13.415s] [ext: omni.kit.viewport.menubar.camera-107.0.14] startup
+[13.425s] [ext: omni.kit.viewport.menubar.lighting-107.3.2] startup
+[13.431s] [ext: omni.kit.viewport.menubar.render-110.1.1] startup
+[13.436s] [ext: omni.kit.viewport.menubar.settings-110.0.1] startup
+[13.445s] [ext: omni.kit.window.console-1.1.10] startup
+[13.452s] [ext: omni.kit.window.status_bar-0.1.11] startup
+[13.457s] [ext: omni.kit.window.toolbar-3.0.3] startup
+[13.461s] [ext: omni.ocio-0.1.1] startup
+[13.463s] [ext: omni.physx.commands-110.3.2] startup
+[13.468s] [ext: omni.replicator.replicator_yaml-2.0.12] startup
+[13.490s] [ext: omni.rtx.window.settings-0.8.2] startup
+[13.499s] [ext: omni.rtx.settings.core-0.7.1] startup
+[13.505s] [ext: omni.usd.metrics.assembler.ui-110.1.1] startup
+[13.517s] [ext: semantics.schema.editor-2.0.2] startup
+[13.522s] [ext: semantics.schema.property-2.0.2] startup
+[13.526s] [ext: omni.kit.menu.common-2.0.2] startup
+[13.528s] [ext: isaacsim.exp.base-6.1.0] startup
+[13.529s] [ext: isaacsim.exp.base.python-6.1.0] startup
+[13.536s] Simulation App Starting
+[15.827s] Simulation App Startup Complete
+[15.836s] app ready
+[16.484s] [ext: omni.physx.fabric-110.3.2] startup
+ACTIVITY_RESULT {"mode": "kinematic", "suppress_readback": true, "groups": [[0, 1], [2]], "names": ["a", "b", "mover"], "freeze_entry_error_m": 0.0, "freeze_drift_m": 0.0, "view_valid_frozen": true, "near_released": true, "release_entry_error_m": 0.0, "release_velocity_error": 0.0, "released_gravity_displacement_m": 0.22140634059906006, "joint_transverse_anchor_error_m": 0.0, "protected_released": true, "drive_released": true, "moving_neighbour_released": true, "contact_samples": [[[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.999318838119507, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.8426313400268555, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.4134438037872314, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.001165981637313962, -0.0011801683576777577, 2.1467854976654053, 0.004353910218924284, -0.0038728988729417324, -1.935933505592402e-05, 0.9999829530715942]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.003099030116572976, -0.0031307388562709093, 1.8400940895080566, 0.011536665260791779, -0.010276959277689457, -5.209851951804012e-05, 0.9998806118965149]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709221716970205, -0.002919111866503954, 1.7000000476837158, 9.034382628669846e-07, -4.2754464857353014e-07, 0.0005896292859688401, 0.9999998211860657]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709228701889515, -0.0029191095381975174, 1.7000000476837158, 7.759467735013459e-07, -3.787541515976045e-07, 0.0005896228249184787, 0.9999997615814209]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.002070919843390584, -0.002919101621955633, 1.7000000476837158, 8.247599225796876e-07, -4.1284516782980063e-07, 0.0005896248039789498, 0.9999998211860657]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709217060357332, -0.0029191109351813793, 1.7000000476837158, 9.013216981657024e-07, -4.0912451026997587e-07, 0.0005896209040656686, 0.9999998211860657]]], "contact_support_height_m": 0.20000004768371582, "contact_frozen_drift_m": 0.0, "collision_enabled": true, "release_all_dynamic": true, "view_valid_released": true, "statistics": {"rigid_sleep_transitions": 0, "rigid_wake_transitions": 10, "rigid_freeze_transitions": 10, "rigid_sleep_failures": 0, "soft_freeze_transitions": 0, "soft_wake_transitions": 0, "wake_radius_m": 2.5, "sleep_radius_m": 3.0, "rigid_mode": "kinematic", "eligible_rigid_bodies": 3, "eligible_soft_bodies": 0, "joint_groups": 1, "sleeping_rigid_count": 0, "frozen_rigid_count": 0, "frozen_soft": []}, "passed": true}
+[19.045s] Simulation App Shutting Down

assets/scenes/kujiale_0004_multitask/reports/probe_radius_runtime.json

@@ -0,0 +1,427 @@
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+  "collision_enabled": true,
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+  "view_valid_released": true,
+  "statistics": {
+    "rigid_sleep_transitions": 0,
+    "rigid_wake_transitions": 10,
+    "rigid_freeze_transitions": 10,
+    "rigid_sleep_failures": 0,
+    "soft_freeze_transitions": 0,
+    "soft_wake_transitions": 0,
+    "wake_radius_m": 2.5,
+    "sleep_radius_m": 3.0,
+    "rigid_mode": "kinematic",
+    "rigid_pose_transport": "transforms",
+    "eligible_rigid_bodies": 3,
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+    "joint_groups": 1,
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+    "frozen_soft": []
+  },
+  "passed": true
+}

assets/scenes/kujiale_0004_multitask/reports/probe_radius_runtime.log

@@ -0,0 +1,389 @@
+Starting kit application with the following args:  ['/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni/kit/plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps', '--/app/extensions/registryEnabled=false', '--/exts/omni.kit.telemetry/enable=false', '--/crashreporter/enabled=false', '--/renderer/activeGpu=2', '--/physics/cudaDevice=2', '--/plugins/carb.tasking.plugin/threadCount=16', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=16', '--portable', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  []
+2026-10-15T15:59:23Z [Info] [carb] Logging to file: /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim Python/6.1/kit_20261015_155923.log
+[0.263s] [ext: omni.assets.plugins-0.0.0] startup
+[0.265s] [ext: omni.blobkey-1.1.2] startup
+[0.266s] [ext: omni.kit.async_engine-0.0.3] startup
+[1.661s] [ext: omni.client.lib-1.1.1] startup
+[1.700s] [ext: omni.client-1.3.0] startup
+[1.714s] [ext: omni.protobuf.lib-1.0.1] startup
+[1.717s] [ext: omni.grpc.lib-1.0.0] startup
+[1.731s] [ext: omni.metrics.core-0.0.3] startup
+[1.732s] [ext: omni.datastore-0.0.0] startup
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792079964.994038 2070325 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792079964.994087 2070325 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+[1.736s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[1.743s] [ext: omni.hsscclient-1.1.4] startup
+[1.745s] [ext: omni.stats-1.0.1] startup
+[1.748s] [ext: omni.ujitso.default-1.0.0] startup
+[1.942s] [ext: omni.gpu_foundation-0.0.0] startup
+[2.252s] [ext: carb.windowing.plugins-1.0.1] startup
+[2.253s] [ext: omni.kit.renderer.init-1.0.1] startup
+2026-10-15T15:59:25Z [2,235ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 615.71.09     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | b1ccc317.. |
+|     |                                  |        |     |            | 35        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 5b4776e5.. |
+|     |                                  |        |     |            | 36        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ee47e4bd.. |
+|     |                                  |        |     |            | 39        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e2bdf6e1.. |
+|     |                                  |        |     |            | 3d        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4a60c7ee.. |
+|     |                                  |        |     |            | 9c        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 23fb4690.. |
+|     |                                  |        |     |            | 9d        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | cec698e7.. |
+|     |                                  |        |     |            | a0        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e80f09d2.. |
+|     |                                  |        |     |            | a4        |            |
+|=============================================================================================|
+| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 5.15.0-198-generic
+| Processor: Intel(R) Xeon(R) Silver 4314 CPU @ 2.40GHz
+| Cores: 32 | Logical Cores: 64
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 257568 | Free Memory: 242149
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 7995
+|---------------------------------------------------------------------------------------------|
+[5.035s] [ext: omni.kit.pipapi-0.0.0] startup
+[5.039s] [ext: omni.kit.telemetry-0.5.2] startup
+[5.120s] [ext: omni.kit.loop-isaac-1.6.2] startup
+[5.131s] [ext: omni.kit.test-2.1.1] startup
+[5.246s] [ext: omni.materialx.libs-1.0.9] startup
+[5.258s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[5.259s] [ext: omni.usd.config-1.0.8] startup
+[5.280s] [ext: omni.usd.libs-1.0.3] startup
+[5.425s] [ext: omni.iray.libs-0.0.1] startup
+[5.432s] [ext: omni.mdl-57.0.6] startup
+[5.554s] [ext: omni.mdl.neuraylib-0.2.22] startup
+[5.560s] [ext: omni.kit.usd.mdl-1.1.11] startup
+[5.717s] [ext: omni.appwindow-1.2.2] startup
+[5.720s] [ext: omni.kit.renderer.core-1.3.1] startup
+2026-10-15T15:59:29Z [5,659ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T15:59:29Z [5,659ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.768s] [ext: omni.kit.renderer.capture-2.0.1] startup
+[5.772s] [ext: omni.kit.renderer.imgui-2.1.0] startup
+2026-10-15T15:59:29Z [5,688ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T15:59:29Z [5,689ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-15T15:59:29Z [5,690ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T15:59:29Z [5,690ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.896s] [ext: omni.ui-3.3.1] startup
+[5.913s] [ext: omni.kit.mainwindow-1.0.4] startup
+[5.915s] [ext: carb.audio-0.1.0] startup
+[5.921s] [ext: omni.uiaudio-1.0.0] startup
+[5.922s] [ext: omni.kit.uiapp-0.0.0] startup
+[5.922s] [ext: omni.usd.schema.metrics.assembler-110.1.0] startup
+[5.930s] [ext: omni.usd.schema.audio-0.0.1] startup
+[5.936s] [ext: omni.usd_resolver-1.0.0] startup
+[5.943s] [ext: omni.usd.core-1.10.10] startup
+[5.948s] [ext: omni.metropolis.schema-0.0.3] startup
+[5.950s] [ext: isaacsim.anim.robot.schema-0.1.1] startup
+[5.951s] [ext: isaacsim.common-6.2.0] startup
+[5.953s] [ext: omni.usd.schema.anim-0.0.1] startup
+[5.984s] [ext: omni.usd.schema.geospatial-0.0.1] startup
+[5.989s] [ext: omni.usd.schema.omnigraph-1.0.1] startup
+[5.998s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[6.003s] [ext: omni.activity.core-1.0.4] startup
+[6.005s] [ext: omni.cubric-0.1.0] startup
+[6.005s] [ext: omni.graph.exec-0.9.6] startup
+[6.006s] [ext: omni.hydra.scene_delegate-0.3.5] startup
+[6.012s] [ext: usdrt.scenegraph-7.6.3] startup
+[6.055s] [ext: omni.hydra.usdrt_delegate-7.5.2] startup
+[6.065s] [ext: omni.inspect-1.0.2] startup
+[6.068s] [ext: omni.kit.actions.core-1.2.0] startup
+[6.073s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[6.075s] [ext: omni.kit.commands-1.5.0] startup
+[6.082s] [ext: omni.kit.exec.core-0.13.6] startup
+[6.086s] [ext: omni.kit.usd_undo-0.1.8] startup
+[6.087s] [ext: omni.kit.window.popup_dialog-2.0.26] startup
+[6.093s] [ext: omni.kit.widget.connection_manager-1.0.3] startup
+[6.105s] [ext: omni.timeline-1.1.0] startup
+[6.108s] [ext: omni.usd-1.18.0] startup
+[6.170s] [ext: omni.graph.core-3.1.5] startup
+[6.175s] [ext: omni.kit.notification_manager-1.0.16] startup
+[6.178s] [ext: isaacsim.core.deprecation_manager-0.4.4] startup
+[6.180s] [ext: isaacsim.replicator.agent.schema-0.1.1] startup
+[6.182s] [ext: isaacsim.robot.schema-7.0.2] startup
+[6.192s] [ext: isaacsim.robot_motion.schema-0.2.2] startup
+[6.194s] [ext: omni.anim.behavior.schema-110.3.0] startup
+[6.201s] [ext: omni.anim.graph.schema-110.3.0] startup
+[6.210s] [ext: omni.anim.navigation.schema-110.3.0] startup
+[6.215s] [ext: omni.behavior.tree.schema-110.3.0] startup
+[6.217s] [ext: omni.kit.asset_converter-6.0.5] startup
+2026-10-15T15:59:29Z [6,130ms] [Warning] [asset_converter_native_bindings._bootstrap] A different OpenUSD (pxr) build was already imported from /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.anim.navigation.schema-110.3.0+110.3.0.lx64.r.cp312.u7f4/pxr before usd-convert-asset loaded. The host pxr bindings will remain in use rather than reloading the bundled OpenUSD at /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/lib/python/pxr, /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/python/pxr. Mixing USD builds in one process can cause ABI and singleton conflicts; prefer importing usd_convert_asset first, or run the converter in a separate process/venv when mixing unrelated USD builds.
+[6.239s] [ext: omni.usd.schema.flow-110.0.0] startup
+[6.240s] [ext: omni.usd.schema.newton-1.4.0] startup
+[6.242s] [ext: omni.usd.schema.mujoco-1.1.4] startup
+[6.245s] [ext: omni.usd.schema.omni_dome_light-1.0.0] startup
+[6.246s] [ext: omni.usd.schema.omni_lens_distortion-1.0.0] startup
+[6.247s] [ext: omni.usd.schema.omni_projectors-1.0.0] startup
+[6.249s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[6.260s] [ext: omni.usd.schema.omniscripting-1.0.1] startup
+[6.267s] [ext: omni.usd.schema.physical_lighting-0.1.0] startup
+[6.272s] [ext: omni.usd.schema.physx-110.3.2] startup
+[6.318s] [ext: omni.usd.schema.render_settings.rtx-1.0.3] startup
+[6.326s] [ext: omni.usd.schema.usd_particle_field-1.0.0] startup
+[6.327s] [ext: isaacsim.core.version-2.2.1] startup
+[6.338s] [ext: omni.kit.menu.core-1.3.0] startup
+[6.340s] [ext: omni.kit.menu.utils-2.2.8] startup
+[6.353s] [ext: isaacsim.app.about-2.3.2] startup
+[6.360s] [ext: isaacsim.asset.transformer-6.1.0] startup
+[6.366s] [ext: omni.scene.optimizer.core-110.2.1] startup
+[6.466s] [ext: isaacsim.asset.importer.utils-1.9.1] startup
+[6.472s] [ext: omni.convexdecomposition-110.3.2] startup
+[6.476s] [ext: omni.physics-110.3.2] startup
+[6.481s] [ext: omni.physx.gpu-110.3.2] startup
+[6.482s] [ext: omni.physx.foundation-110.3.2] startup
+[6.485s] [ext: omni.usdphysics-110.3.2] startup
+[6.489s] [ext: omni.physx.cooking-110.3.2] startup
+[6.493s] [ext: omni.physx-110.3.2] startup
+[6.515s] [ext: omni.physics.physx-110.3.2] startup
+[6.519s] [ext: isaacsim.asset.exporter.urdf-2.2.6] startup
+[6.533s] [ext: omni.kit.clipboard-1.1.1] startup
+[6.535s] [ext: omni.kit.usd.layers-2.7.2] startup
+[6.548s] [ext: omni.kit.widget.context_menu-1.5.0] startup
+[6.552s] [ext: omni.kit.context_menu-1.10.0] startup
+[6.555s] [ext: omni.kit.helper.file_utils-0.1.10] startup
+[6.557s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
+[6.559s] [ext: omni.kit.search_core-1.0.8] startup
+[6.561s] [ext: omni.kit.widget.path_field-2.0.13] startup
+[6.562s] [ext: omni.kit.widget.browser_bar-2.0.11] startup
+[6.564s] [ext: omni.kit.widget.filebrowser-2.14.0] startup
+[6.574s] [ext: omni.kit.widget.nucleus_connector-2.4.0] startup
+[6.575s] [ext: omni.kit.widget.options_menu-1.1.7] startup
+[6.581s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[6.583s] [ext: omni.kit.widget.search_delegate-1.0.10] startup
+[6.585s] [ext: omni.ui.scene-2.0.4] startup
+[6.593s] [ext: omni.kit.window.filepicker-3.0.14] startup
+[6.624s] [ext: omni.kit.window.file_importer-1.1.22] startup
+[6.627s] [ext: omni.kit.material.library-3.1.7] startup
+[6.636s] [ext: isaacsim.asset.transformer.rules-1.7.18] startup
+[6.657s] [ext: omni.usdex.libs-2.3.0] startup
+[6.671s] [ext: isaacsim.asset.importer.mjcf-3.12.1] startup
+[6.675s] [ext: omni.kit.primitive.mesh-1.1.1] startup
+[6.681s] [ext: omni.kit.stage_template.core-1.1.23] startup
+[6.682s] [ext: omni.kit.stage_templates-2.0.3] startup
+[6.687s] [ext: omni.usd.metrics.assembler-110.1.2] startup
+[6.692s] [ext: omni.warp.core-1.16.0] startup
+[6.950s] [ext: isaacsim.core.experimental.utils-0.23.0] startup
+[6.953s] [ext: isaacsim.asset.importer.urdf-3.11.10] startup
+[6.961s] [ext: omni.physics.stageupdate-110.3.2] startup
+[6.965s] [ext: omni.physics.tensors-110.3.2] startup
+[6.974s] [ext: omni.physx.tensors-110.3.2] startup
+[6.986s] [ext: isaacsim.core.simulation_manager-1.17.1] startup
+[7.009s] [ext: isaacsim.storage.native-1.11.0] startup
+[7.013s] [ext: omni.usd.metrics.assembler.physics-110.3.2] startup
+[7.016s] [ext: isaacsim.core.utils-4.1.9] startup
+[7.021s] [ext: isaacsim.core.prims-0.11.7] startup
+[8.988s] [ext: isaacsim.core.api-5.3.2] startup
+[9.011s] [ext: isaacsim.core.cloner-1.7.5] startup
+[9.014s] [ext: isaacsim.test.docstring-1.3.2] startup
+[9.023s] [ext: isaacsim.core.experimental.prims-1.10.8] startup
+[9.052s] [ext: isaacsim.core.experimental.primdata-0.3.6] startup
+[9.056s] [ext: omni.graph.tools-1.81.0] startup
+[9.110s] [ext: omni.graph-1.142.5] startup
+[9.181s] [ext: isaacsim.core.experimental.actuators-0.1.6] startup
+[9.211s] [ext: isaacsim.core.experimental.materials-0.10.0] startup
+[9.220s] [ext: isaacsim.core.experimental.objects-0.9.0] startup
+[9.350s] [ext: omni.hydra.engine.stats-1.0.5] startup
+[9.355s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[9.357s] [ext: omni.index.libs-392300.961.0] startup
+[9.357s] [ext: omni.index-1.0.1] startup
+[9.359s] [ext: omni.ujitso.client-0.0.0] startup
+[9.360s] [ext: omni.usd.schema.playback-1.1.0] startup
+[9.362s] [ext: omni.volume-0.5.2] startup
+[9.371s] [ext: omni.hydra.rtx-1.0.4] startup
+2026-10-15T15:59:32Z [9,304ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[9.426s] [ext: omni.kit.hydra_texture-1.6.2] startup
+[9.433s] [ext: omni.kit.raycast.query-1.2.0] startup
+[9.442s] [ext: omni.kit.viewport.legacy_gizmos-1.0.24] startup
+[9.447s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[9.448s] [ext: omni.kit.viewport.scene_camera_model-1.0.7] startup
+[9.455s] [ext: omni.kit.widget.viewport-110.0.0] startup
+[9.464s] [ext: omni.kit.window.drop_support-1.0.8] startup
+[9.466s] [ext: omni.kit.viewport.window-110.0.1] startup
+[9.498s] [ext: omni.kit.viewport.utility-2.1.0] startup
+[9.499s] [ext: isaacsim.core.rendering_manager-0.5.1] startup
+[9.517s] [ext: omni.graph.action_core-1.1.9] startup
+[9.521s] [ext: omni.graph.action_nodes_core-2.11.0] startup
+[9.526s] [ext: omni.graph.action_nodes-2.11.0] startup
+[9.569s] [ext: omni.graph.action-2.10.2] startup
+[9.572s] [ext: omni.graph.image.core-0.6.1] startup
+[9.574s] [ext: omni.graph.image.nodes-1.3.2] startup
+[9.576s] [ext: omni.graph.nodes_core-2.11.0] startup
+[9.587s] [ext: omni.graph.nodes-2.12.0] startup
+[9.598s] [ext: omni.kit.hotkeys.core-1.4.0] startup
+[9.600s] [ext: omni.kit.property.adapter.core-1.1.1] startup
+[9.606s] [ext: omni.kit.property.adapter.usd-1.0.6] startup
+[9.610s] [ext: omni.kit.widget.filter-1.1.8] startup
+[9.612s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[9.614s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[9.618s] [ext: omni.kit.window.file_exporter-1.0.38] startup
+[9.620s] [ext: omni.kit.widget.stage-4.6.5] startup
+[9.641s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[9.644s] [ext: omni.kit.window.file-2.0.15] startup
+[9.650s] [ext: omni.kit.window.content_browser-3.1.12] startup
+[9.670s] [ext: omni.kit.window.property-1.15.2] startup
+[9.704s] [ext: omni.kit.property.usd-4.9.14] startup
+[9.725s] [ext: omni.graph.scriptnode-2.10.2] startup
+[9.743s] [ext: omni.kit.widget.searchable_combobox-1.0.7] startup
+[9.745s] [ext: omni.kit.widget.settings-2.0.1] startup
+[9.750s] [ext: omni.kit.window.preferences-1.8.5] startup
+[9.762s] [ext: omni.kit.viewport.menubar.core-110.0.3] startup
+[9.792s] [ext: omni.syntheticdata-0.6.17] startup
+[9.839s] [ext: omni.replicator.nv-1.1.6] startup
+[9.850s] [ext: omni.videoencoding-0.2.1] startup
+[9.854s] [ext: omni.replicator.core-1.13.36] startup
+2026-10-15T15:59:33Z [9,784ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.4
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:1"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:2"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:3"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:4"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:5"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:6"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:7"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   CUDA peer access:
+     Not supported
+   Kernel cache:
+     /home/myx/.cache/warp/1.16.0
+2026-10-15T15:59:33Z [9,901ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[10.231s] [ext: isaacsim.core.nodes-5.10.13] startup
+[10.297s] [ext: isaacsim.core.throttling-2.3.7] startup
+[10.301s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[10.304s] [ext: omni.graph.visualization.nodes-2.1.4] startup
+[10.335s] [ext: omni.kit.window.extensions-1.5.16] startup
+[10.348s] [ext: isaacsim.gui.components-1.8.9] startup
+[10.358s] [ext: isaacsim.robot.surface_gripper-3.6.3] startup
+[10.382s] [ext: isaacsim.robot.manipulators-3.4.5] startup
+[10.405s] [ext: isaacsim.robot_motion.lula-4.1.4] startup
+[10.418s] [ext: isaacsim.robot_motion.motion_generation-8.2.9] startup
+[10.435s] [ext: isaacsim.cortex.framework-1.0.20] startup
+[10.438s] [ext: isaacsim.cortex.behaviors-2.0.18] startup
+[10.442s] [ext: isaacsim.examples.base-1.3.4] startup
+[10.449s] [ext: omni.kit.widget.zoombar-1.0.7] startup
+[10.451s] [ext: omni.kit.browser.core-2.3.18] startup
+[10.461s] [ext: omni.kit.browser.folder.core-2.0.3] startup
+[10.474s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[10.477s] [ext: omni.kit.window.stage-2.6.1] startup
+[10.484s] [ext: omni.kit.menu.stage-1.2.7] startup
+[10.487s] [ext: omni.kit.usd.collect-3.0.6] startup
+[10.493s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[10.495s] [ext: omni.kit.tool.collect-2.2.19] startup
+[10.501s] [ext: isaacsim.examples.browser-0.3.4] startup
+[10.507s] [ext: omni.kit.search.files-1.0.4] startup
+[10.509s] [ext: omni.kit.widget.calendar-1.0.9] startup
+[10.512s] [ext: omni.kit.widget.extended_searchfield-1.0.31] startup
+[10.528s] [ext: omni.simready.content.browser-0.3.8] startup
+[10.711s] [ext: isaacsim.gui.content_browser-0.5.1] startup
+[10.717s] [ext: omni.kit.selection-0.1.6] startup
+[10.720s] [ext: isaacsim.gui.menu-2.10.12] startup
+[10.738s] [ext: isaacsim.gui.property-1.6.4] startup
+[10.752s] [ext: omni.kit.viewport.actions-110.1.0] startup
+[10.759s] [ext: omni.kit.viewport.menubar.display-110.0.0] startup
+[10.763s] [ext: isaacsim.gui.sensors.icon-2.2.4] startup
+[10.769s] [ext: omni.behavior.scripting.core-110.3.0] startup
+[10.775s] [ext: isaacsim.replicator.behavior-1.6.2] startup
+[10.788s] [ext: isaacsim.replicator.experimental.domain_randomization-1.2.10] startup
+[10.821s] [ext: isaacsim.replicator.domain_randomization-1.2.3] startup
+[10.940s] [ext: isaacsim.replicator.writers-1.5.6] startup
+[10.999s] [ext: isaacsim.robot.experimental.wheeled_robots-0.2.14] startup
+[11.044s] [ext: isaacsim.robot_motion.experimental.motion_generation-7.1.2] startup
+[11.064s] [ext: isaacsim.robot.policy.examples-7.2.0] startup
+[12.571s] [ext: isaacsim.robot.wheeled_robots-5.2.5] startup
+[12.583s] [ext: isaacsim.robot.wheeled_robots.nodes-0.1.12] startup
+[12.630s] [ext: isaacsim.robot_motion.controllers-0.3.2] startup
+[12.651s] [ext: isaacsim.robot_motion.cumotion-1.4.0] startup
+[12.675s] [ext: omni.kit.numpy.common-0.1.3] startup
+[12.677s] [ext: omni.rtx.spg-0.4.0] startup
+[12.687s] [ext: omni.sensors.nv.camera-1.0.0] startup
+[12.699s] [ext: isaacsim.sensors.camera-1.7.13] startup
+[12.744s] [ext: isaacsim.sensors.experimental.physics-3.3.0] startup
+[12.761s] [ext: omni.sensors.net-1.0.1] startup
+[12.767s] [ext: omni.sensors.nv.common-3.0.0] startup
+[12.789s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[12.797s] [ext: omni.sensors.nv.acoustic-3.0.0] startup
+[12.804s] [ext: omni.sensors.nv.ids-2.0.1] startup
+[12.807s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[12.816s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[12.823s] [ext: isaacsim.sensors.experimental.rtx-1.9.0] startup
+[13.202s] [ext: isaacsim.sensors.physics.nodes-1.6.2] startup
+[13.216s] [ext: isaacsim.util.debug_draw-3.2.6] startup
+[13.227s] [ext: isaacsim.sensors.physx-2.5.7] startup
+[13.242s] [ext: isaacsim.sensors.rtx-15.17.5] startup
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+[13.701s] [ext: isaacsim.exp.base-6.1.0] startup
+[13.702s] [ext: isaacsim.exp.base.python-6.1.0] startup
+[13.708s] Simulation App Starting
+[16.081s] Simulation App Startup Complete
+[16.089s] app ready
+[16.769s] [ext: omni.physx.fabric-110.3.2] startup
+2026-10-15T15:59:41Z [18,323ms] [Error] [omni.physx.tensors.plugin] GPU Rigid Body View kinematic target setting not implemented.
+[18.851s] Simulation App Shutting Down

assets/scenes/kujiale_0004_multitask/reports/probe_radius_runtime.py

@@ -0,0 +1,170 @@
+"""Disposable joint-connected GPU activity acceptance; no household stage loaded."""
+import ctypes
+import json
+import sys
+from pathlib import Path
+
+sys.path.insert(0, "/home/myx/RoboBench")
+ctypes.CDLL(str(Path(sys.base_prefix) / "lib/libstdc++.so.6"), mode=ctypes.RTLD_GLOBAL)
+from isaacsim import SimulationApp
+app = SimulationApp({"headless": True, "active_gpu": 2, "physics_gpu": 2, "multi_gpu": False,
+    "extra_args": ["--/app/extensions/registryEnabled=false", "--/exts/omni.kit.telemetry/enable=false",
+                   "--/crashreporter/enabled=false"]})
+import carb.settings
+import numpy as np
+from isaacsim.core.api import World
+from isaacsim.core.simulation_manager import SimulationManager
+from pxr import Gf, PhysxSchema, UsdGeom, UsdPhysics
+from core.scene_efficiency.runtime import RadiusActivity, as_numpy, _native
+
+world = World(stage_units_in_meters=1, physics_dt=1/120, backend="torch", device="cuda:2")
+stage = world.stage
+scene = PhysxSchema.PhysxSceneAPI.Apply(stage.GetPrimAtPath("/physicsScene"))
+scene.CreateEnableGPUDynamicsAttr(True)
+scene.CreateEnableCCDAttr(True)
+scene.CreateBroadphaseTypeAttr("GPU")
+world.get_physics_context().enable_gpu_dynamics(True)
+UsdGeom.Xform.Define(stage, "/World/Scene/Assets")
+for name, x in (("a", 0), ("b", .35), ("mover", 5)):
+    cube = UsdGeom.Cube.Define(stage, f"/World/Scene/Assets/{name}")
+    cube.GetSizeAttr().Set(.2)
+    cube.AddTranslateOp().Set(Gf.Vec3d(x, 0, 2))
+    UsdPhysics.RigidBodyAPI.Apply(cube.GetPrim())
+    PhysxSchema.PhysxRigidBodyAPI.Apply(cube.GetPrim()).CreateEnableCCDAttr(name != "b")
+    UsdPhysics.CollisionAPI.Apply(cube.GetPrim())
+    UsdPhysics.MassAPI.Apply(cube.GetPrim()).CreateMassAttr(1)
+joint = UsdPhysics.PrismaticJoint.Define(stage, "/World/Scene/Joint")
+joint.CreateBody0Rel().SetTargets(["/World/Scene/Assets/a"])
+joint.CreateBody1Rel().SetTargets(["/World/Scene/Assets/b"])
+joint.CreateLocalPos0Attr(Gf.Vec3f(.175, 0, 0))
+joint.CreateLocalPos1Attr(Gf.Vec3f(-.175, 0, 0))
+joint.CreateAxisAttr("X")
+joint.CreateLowerLimitAttr(-.1)
+joint.CreateUpperLimitAttr(.1)
+drive = UsdPhysics.DriveAPI.Apply(joint.GetPrim(), "linear")
+drive.CreateStiffnessAttr(100)
+drive.CreateDampingAttr(10)
+drive.CreateTargetPositionAttr(0)
+world.scene.add_default_ground_plane()
+world.reset()
+simulation = SimulationManager.get_physics_simulation_view()
+activity = RadiusActivity(stage, stable_updates=2, always_active=["mover"])
+activity.initialize()
+view = activity.rigid
+index = {name: i for i, name in enumerate(activity.names)}
+pair = [index["a"], index["b"]]
+ref = view.get_transforms()
+all_indices = _native(np.arange(view.count, dtype=np.uint32), activity.device, like=ref)
+robot_far = [20, 20, 2]
+report = {"mode": activity.rigid_mode, "suppress_readback": carb.settings.get_settings().get("/physics/suppressReadback"),
+          "groups": activity.groups, "names": activity.names}
+report["ccd_original"] = [attr.Get() for attr in activity.ccd_attrs]
+
+def state():
+    return as_numpy(view.get_transforms())
+
+def place():
+    activity.release_all()
+    poses = state()
+    poses[pair[0], :3], poses[pair[1], :3] = [0, 0, 1.5], [.35, 0, 1.5]
+    poses[index["mover"], :3] = [5, 0, 1.5]
+    poses[:, 3:] = [0, 0, 0, 1]
+    velocity = np.zeros((view.count, 6), dtype=np.float32)
+    velocity[pair, 0] = .001
+    view.set_transforms(_native(poses, activity.device, like=ref), all_indices)
+    view.set_velocities(_native(velocity, activity.device, like=ref), all_indices)
+    return poses, velocity
+
+def freeze():
+    poses, velocity = place()
+    activity.update(robot_far)
+    activity.update(robot_far)
+    assert activity.frozen_rigid == set(pair)
+    return poses, velocity
+
+try:
+    before, velocity = freeze()
+    report["ccd_frozen"] = [attr.Get() for attr in activity.ccd_attrs]
+    report["freeze_entry_error_m"] = float(np.max(np.abs(state()[pair] - before[pair])))
+    for _ in range(30):
+        world.step(render=False)
+    report["freeze_drift_m"] = float(np.max(np.abs(state()[pair] - before[pair])))
+    report["view_valid_frozen"] = simulation.is_valid
+    poses = state()
+    poses[index["mover"], :3] = [0, 0, 3.0]
+    mover_index = _native(np.array([index["mover"]], dtype=np.uint32), activity.device, like=ref)
+    view.set_transforms(_native(poses, activity.device, like=ref), mover_index)
+    view.set_velocities(_native(np.zeros((view.count, 6), dtype=np.float32), activity.device, like=ref), mover_index)
+    report["first_contact_samples"] = []
+    for step in range(120):
+        world.step(render=False)
+        if step % 10 == 0:
+            report["first_contact_samples"].append(state()[index["mover"]].tolist())
+    report["first_contact_support_height_m"] = float(state()[index["mover"], 2] - state()[pair[0], 2])
+    poses[index["mover"], :3] = [5, 0, 1.5]
+    view.set_transforms(_native(poses, activity.device, like=ref), mover_index)
+    activity.update([0, 0, 1.5])
+    report["ccd_restored_on_wake"] = [attr.Get() for attr in activity.ccd_attrs] == report["ccd_original"]
+    report["near_released"] = not activity.frozen_rigid
+    report["release_entry_error_m"] = float(np.max(np.abs(state()[pair] - before[pair])))
+    report["release_velocity_error"] = float(np.max(np.abs(as_numpy(view.get_velocities())[pair] - velocity[pair])))
+    for _ in range(25):
+        world.step(render=False)
+    after = state()
+    report["released_gravity_displacement_m"] = float((before[pair, 2] - after[pair, 2]).min())
+    report["joint_transverse_anchor_error_m"] = float(np.linalg.norm(after[pair[1], 1:3] - after[pair[0], 1:3]))
+    freeze()
+    activity.update(robot_far, protected_objects=["b"])
+    report["protected_released"] = not activity.frozen_rigid
+    freeze()
+    drive.GetTargetPositionAttr().Set(.03)
+    activity.update(robot_far)
+    report["drive_released"] = not activity.frozen_rigid
+    freeze()
+    poses = state()
+    poses[index["mover"], :3] = [.25, .2, 1.5]
+    velocity = np.zeros((view.count, 6), dtype=np.float32)
+    velocity[index["mover"], 0] = -.3
+    view.set_transforms(_native(poses, activity.device, like=ref), all_indices)
+    view.set_velocities(_native(velocity, activity.device, like=ref), all_indices)
+    activity.update(robot_far)
+    report["moving_neighbour_released"] = not activity.frozen_rigid
+    before, _ = freeze()
+    # A falling independent cube must physically collide with the frozen cube.
+    poses = state()
+    poses[index["mover"], :3] = [0, 0, 3.0]
+    mover_index = _native(np.array([index["mover"]], dtype=np.uint32), activity.device, like=ref)
+    view.set_transforms(_native(poses, activity.device, like=ref), mover_index)
+    report["contact_samples"] = []
+    for step in range(180):
+        world.step(render=False)
+        if step % 20 == 0:
+            report["contact_samples"].append(state().tolist())
+    report["contact_support_height_m"] = float(state()[index["mover"], 2] - state()[pair[0], 2])
+    report["contact_frozen_drift_m"] = float(np.max(np.abs(state()[pair] - before[pair])))
+    report["collision_enabled"] = all(UsdPhysics.CollisionAPI(stage.GetPrimAtPath(path)).GetCollisionEnabledAttr().Get()
+                                      for path in activity.paths)
+    activity.release_all()
+    report["ccd_restored_on_release_all"] = [attr.Get() for attr in activity.ccd_attrs] == report["ccd_original"]
+    report["release_all_dynamic"] = not any(attr.Get() for attr in activity.kinematic_attrs)
+    report["view_valid_released"] = simulation.is_valid
+    report["statistics"] = activity.report
+    report["passed"] = (report["mode"] == "kinematic" and not any(report["ccd_frozen"][i] for i in pair)
+        and report["ccd_restored_on_wake"] and report["ccd_restored_on_release_all"]
+        and report["freeze_entry_error_m"] < 2e-5
+        and report["freeze_drift_m"] == 0 and report["release_entry_error_m"] < 2e-5
+        and report["release_velocity_error"] < 2e-5 and report["released_gravity_displacement_m"] > .1
+        and report["joint_transverse_anchor_error_m"] < 2e-5 and .19 < report["contact_support_height_m"] < .22
+        and report["contact_frozen_drift_m"] == 0 and all(report[key] for key in
+            ("near_released", "protected_released", "drive_released", "moving_neighbour_released",
+             "collision_enabled", "release_all_dynamic", "view_valid_frozen", "view_valid_released")))
+    Path(__file__).with_name("probe_radius_runtime_ccd.json").write_text(json.dumps(report, indent=2) + "\n")
+    print("ACTIVITY_RESULT " + json.dumps(report), flush=True)
+except Exception:
+    import traceback
+    traceback.print_exc()
+    raise
+finally:
+    activity.release_all()
+    world.stop()
+    app.close()

assets/scenes/kujiale_0004_multitask/reports/probe_radius_runtime_ccd.json

@@ -0,0 +1,439 @@
+{
+  "mode": "kinematic",
+  "suppress_readback": true,
+  "groups": [
+    [
+      0,
+      1
+    ],
+    [
+      2
+    ]
+  ],
+  "names": [
+    "a",
+    "b",
+    "mover"
+  ],
+  "ccd_original": [
+    true,
+    false,
+    true
+  ],
+  "ccd_frozen": [
+    false,
+    false,
+    true
+  ],
+  "freeze_entry_error_m": 0.0,
+  "freeze_drift_m": 0.0,
+  "view_valid_frozen": true,
+  "first_contact_samples": [
+    [
+      0.0,
+      0.0,
+      2.999318838119507,
+      0.0,
+      0.0,
+      0.0,
+      1.0
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+      2.9550375938415527,
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+      1.7117565870285034,
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+      0.001203514402732253,
+      0.0032153776846826077,
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+      0.00015771129983477294,
+      0.9999999403953552
+    ],
+    [
+      0.001203820575028658,
+      0.0032151443883776665,
+      1.7000000476837158,
+      3.6810706660617143e-07,
+      7.386319680335873e-07,
+      0.00015770818572491407,
+      1.0
+    ],
+    [
+      0.001203825231641531,
+      0.0032151415944099426,
+      1.7000000476837158,
+      3.350014310399274e-07,
+      7.08164009211032e-07,
+      0.0001577032235218212,
+      1.0
+    ],
+    [
+      0.00120382325258106,
+      0.003215145319700241,
+      1.7000000476837158,
+      4.233484673932253e-07,
+      8.247242817560618e-07,
+      0.0001577165676280856,
+      1.0
+    ],
+    [
+      0.0012038208078593016,
+      0.003215145319700241,
+      1.7000000476837158,
+      3.926754175154201e-07,
+      7.964027304296906e-07,
+      0.0001577008079038933,
+      1.0
+    ]
+  ],
+  "first_contact_support_height_m": 0.20000004768371582,
+  "ccd_restored_on_wake": true,
+  "near_released": true,
+  "release_entry_error_m": 0.0,
+  "release_velocity_error": 0.0,
+  "released_gravity_displacement_m": 0.22140634059906006,
+  "joint_transverse_anchor_error_m": 0.0,
+  "protected_released": true,
+  "drive_released": true,
+  "moving_neighbour_released": true,
+  "contact_samples": [
+    [
+      [
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+        -4.1284516782980063e-07,
+        0.0005896248039789498,
+        0.9999998211860657
+      ]
+    ],
+    [
+      [
+        0.0,
+        0.0,
+        1.5,
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ],
+      [
+        0.3499999940395355,
+        0.0,
+        1.5,
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ],
+      [
+        -0.0020709217060357332,
+        -0.0029191109351813793,
+        1.7000000476837158,
+        9.013216981657024e-07,
+        -4.0912451026997587e-07,
+        0.0005896209040656686,
+        0.9999998211860657
+      ]
+    ]
+  ],
+  "contact_support_height_m": 0.20000004768371582,
+  "contact_frozen_drift_m": 0.0,
+  "collision_enabled": true,
+  "ccd_restored_on_release_all": true,
+  "release_all_dynamic": true,
+  "view_valid_released": true,
+  "statistics": {
+    "rigid_sleep_transitions": 0,
+    "rigid_wake_transitions": 10,
+    "rigid_freeze_transitions": 10,
+    "rigid_sleep_failures": 0,
+    "soft_freeze_transitions": 0,
+    "soft_wake_transitions": 0,
+    "wake_radius_m": 2.5,
+    "sleep_radius_m": 3.0,
+    "rigid_mode": "kinematic",
+    "rigid_pose_transport": "transforms",
+    "eligible_rigid_bodies": 3,
+    "eligible_soft_bodies": 0,
+    "joint_groups": 1,
+    "sleeping_rigid_count": 0,
+    "frozen_rigid_count": 0,
+    "frozen_soft": []
+  },
+  "passed": true
+}

assets/scenes/kujiale_0004_multitask/reports/probe_radius_runtime_ccd.log

@@ -0,0 +1,389 @@
+Starting kit application with the following args:  ['/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni/kit/plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps', '--/app/extensions/registryEnabled=false', '--/exts/omni.kit.telemetry/enable=false', '--/crashreporter/enabled=false', '--/renderer/activeGpu=2', '--/physics/cudaDevice=2', '--/plugins/carb.tasking.plugin/threadCount=16', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=16', '--portable', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  []
+2026-10-15T16:19:34Z [Info] [carb] Logging to file: /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim Python/6.1/kit_20261015_161934.log
+[0.150s] [ext: omni.assets.plugins-0.0.0] startup
+[0.152s] [ext: omni.blobkey-1.1.2] startup
+[0.153s] [ext: omni.kit.async_engine-0.0.3] startup
+[1.420s] [ext: omni.client.lib-1.1.1] startup
+[1.442s] [ext: omni.client-1.3.0] startup
+[1.454s] [ext: omni.protobuf.lib-1.0.1] startup
+[1.457s] [ext: omni.grpc.lib-1.0.0] startup
+[1.467s] [ext: omni.metrics.core-0.0.3] startup
+[1.467s] [ext: omni.datastore-0.0.0] startup
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792081176.298971 2077715 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792081176.299027 2077715 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+[1.470s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[1.475s] [ext: omni.hsscclient-1.1.4] startup
+[1.476s] [ext: omni.stats-1.0.1] startup
+[1.478s] [ext: omni.ujitso.default-1.0.0] startup
+[1.573s] [ext: omni.gpu_foundation-0.0.0] startup
+[1.881s] [ext: carb.windowing.plugins-1.0.1] startup
+[1.882s] [ext: omni.kit.renderer.init-1.0.1] startup
+2026-10-15T16:19:36Z [1,885ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 615.71.09     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | b1ccc317.. |
+|     |                                  |        |     |            | 35        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 5b4776e5.. |
+|     |                                  |        |     |            | 36        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ee47e4bd.. |
+|     |                                  |        |     |            | 39        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e2bdf6e1.. |
+|     |                                  |        |     |            | 3d        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4a60c7ee.. |
+|     |                                  |        |     |            | 9c        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 23fb4690.. |
+|     |                                  |        |     |            | 9d        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | cec698e7.. |
+|     |                                  |        |     |            | a0        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e80f09d2.. |
+|     |                                  |        |     |            | a4        |            |
+|=============================================================================================|
+| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 5.15.0-198-generic
+| Processor: Intel(R) Xeon(R) Silver 4314 CPU @ 2.40GHz
+| Cores: 32 | Logical Cores: 64
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 257568 | Free Memory: 234044
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 7995
+|---------------------------------------------------------------------------------------------|
+[4.708s] [ext: omni.kit.pipapi-0.0.0] startup
+[4.711s] [ext: omni.kit.telemetry-0.5.2] startup
+[4.786s] [ext: omni.kit.loop-isaac-1.6.2] startup
+[4.798s] [ext: omni.kit.test-2.1.1] startup
+[4.917s] [ext: omni.materialx.libs-1.0.9] startup
+[4.928s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[4.929s] [ext: omni.usd.config-1.0.8] startup
+[4.953s] [ext: omni.usd.libs-1.0.3] startup
+[5.088s] [ext: omni.iray.libs-0.0.1] startup
+[5.094s] [ext: omni.mdl-57.0.6] startup
+[5.212s] [ext: omni.mdl.neuraylib-0.2.22] startup
+[5.216s] [ext: omni.kit.usd.mdl-1.1.11] startup
+[5.372s] [ext: omni.appwindow-1.2.2] startup
+[5.375s] [ext: omni.kit.renderer.core-1.3.1] startup
+2026-10-15T16:19:40Z [5,337ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:19:40Z [5,337ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.421s] [ext: omni.kit.renderer.capture-2.0.1] startup
+[5.425s] [ext: omni.kit.renderer.imgui-2.1.0] startup
+2026-10-15T16:19:40Z [5,365ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:19:40Z [5,365ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-15T16:19:40Z [5,366ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:19:40Z [5,366ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.528s] [ext: omni.ui-3.3.1] startup
+[5.542s] [ext: omni.kit.mainwindow-1.0.4] startup
+[5.543s] [ext: carb.audio-0.1.0] startup
+[5.549s] [ext: omni.uiaudio-1.0.0] startup
+[5.550s] [ext: omni.kit.uiapp-0.0.0] startup
+[5.550s] [ext: omni.usd.schema.metrics.assembler-110.1.0] startup
+[5.556s] [ext: omni.usd.schema.audio-0.0.1] startup
+[5.561s] [ext: omni.usd_resolver-1.0.0] startup
+[5.566s] [ext: omni.usd.core-1.10.10] startup
+[5.572s] [ext: omni.metropolis.schema-0.0.3] startup
+[5.573s] [ext: isaacsim.anim.robot.schema-0.1.1] startup
+[5.574s] [ext: isaacsim.common-6.2.0] startup
+[5.576s] [ext: omni.usd.schema.anim-0.0.1] startup
+[5.603s] [ext: omni.usd.schema.geospatial-0.0.1] startup
+[5.607s] [ext: omni.usd.schema.omnigraph-1.0.1] startup
+[5.615s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[5.619s] [ext: omni.activity.core-1.0.4] startup
+[5.621s] [ext: omni.cubric-0.1.0] startup
+[5.622s] [ext: omni.graph.exec-0.9.6] startup
+[5.623s] [ext: omni.hydra.scene_delegate-0.3.5] startup
+[5.628s] [ext: usdrt.scenegraph-7.6.3] startup
+[5.666s] [ext: omni.hydra.usdrt_delegate-7.5.2] startup
+[5.675s] [ext: omni.inspect-1.0.2] startup
+[5.678s] [ext: omni.kit.actions.core-1.2.0] startup
+[5.681s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[5.683s] [ext: omni.kit.commands-1.5.0] startup
+[5.688s] [ext: omni.kit.exec.core-0.13.6] startup
+[5.690s] [ext: omni.kit.usd_undo-0.1.8] startup
+[5.691s] [ext: omni.kit.window.popup_dialog-2.0.26] startup
+[5.696s] [ext: omni.kit.widget.connection_manager-1.0.3] startup
+[5.705s] [ext: omni.timeline-1.1.0] startup
+[5.708s] [ext: omni.usd-1.18.0] startup
+[5.767s] [ext: omni.graph.core-3.1.5] startup
+[5.772s] [ext: omni.kit.notification_manager-1.0.16] startup
+[5.774s] [ext: isaacsim.core.deprecation_manager-0.4.4] startup
+[5.775s] [ext: isaacsim.replicator.agent.schema-0.1.1] startup
+[5.777s] [ext: isaacsim.robot.schema-7.0.2] startup
+[5.784s] [ext: isaacsim.robot_motion.schema-0.2.2] startup
+[5.786s] [ext: omni.anim.behavior.schema-110.3.0] startup
+[5.792s] [ext: omni.anim.graph.schema-110.3.0] startup
+[5.800s] [ext: omni.anim.navigation.schema-110.3.0] startup
+[5.805s] [ext: omni.behavior.tree.schema-110.3.0] startup
+[5.806s] [ext: omni.kit.asset_converter-6.0.5] startup
+2026-10-15T16:19:40Z [5,743ms] [Warning] [asset_converter_native_bindings._bootstrap] A different OpenUSD (pxr) build was already imported from /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.usd.libs-1.0.3+00c488ae.lx64.r.cp312/pxr before usd-convert-asset loaded. The host pxr bindings will remain in use rather than reloading the bundled OpenUSD at /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/lib/python/pxr, /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/python/pxr. Mixing USD builds in one process can cause ABI and singleton conflicts; prefer importing usd_convert_asset first, or run the converter in a separate process/venv when mixing unrelated USD builds.
+[5.826s] [ext: omni.usd.schema.flow-110.0.0] startup
+[5.827s] [ext: omni.usd.schema.newton-1.4.0] startup
+[5.829s] [ext: omni.usd.schema.mujoco-1.1.4] startup
+[5.830s] [ext: omni.usd.schema.omni_dome_light-1.0.0] startup
+[5.831s] [ext: omni.usd.schema.omni_lens_distortion-1.0.0] startup
+[5.832s] [ext: omni.usd.schema.omni_projectors-1.0.0] startup
+[5.833s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[5.844s] [ext: omni.usd.schema.omniscripting-1.0.1] startup
+[5.851s] [ext: omni.usd.schema.physical_lighting-0.1.0] startup
+[5.855s] [ext: omni.usd.schema.physx-110.3.2] startup
+[5.897s] [ext: omni.usd.schema.render_settings.rtx-1.0.3] startup
+[5.904s] [ext: omni.usd.schema.usd_particle_field-1.0.0] startup
+[5.905s] [ext: isaacsim.core.version-2.2.1] startup
+[5.916s] [ext: omni.kit.menu.core-1.3.0] startup
+[5.917s] [ext: omni.kit.menu.utils-2.2.8] startup
+[5.927s] [ext: isaacsim.app.about-2.3.2] startup
+[5.933s] [ext: isaacsim.asset.transformer-6.1.0] startup
+[5.938s] [ext: omni.scene.optimizer.core-110.2.1] startup
+[6.027s] [ext: isaacsim.asset.importer.utils-1.9.1] startup
+[6.032s] [ext: omni.convexdecomposition-110.3.2] startup
+[6.036s] [ext: omni.physics-110.3.2] startup
+[6.041s] [ext: omni.physx.gpu-110.3.2] startup
+[6.041s] [ext: omni.physx.foundation-110.3.2] startup
+[6.044s] [ext: omni.usdphysics-110.3.2] startup
+[6.047s] [ext: omni.physx.cooking-110.3.2] startup
+[6.051s] [ext: omni.physx-110.3.2] startup
+[6.072s] [ext: omni.physics.physx-110.3.2] startup
+[6.075s] [ext: isaacsim.asset.exporter.urdf-2.2.6] startup
+[6.087s] [ext: omni.kit.clipboard-1.1.1] startup
+[6.088s] [ext: omni.kit.usd.layers-2.7.2] startup
+[6.099s] [ext: omni.kit.widget.context_menu-1.5.0] startup
+[6.102s] [ext: omni.kit.context_menu-1.10.0] startup
+[6.104s] [ext: omni.kit.helper.file_utils-0.1.10] startup
+[6.106s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
+[6.107s] [ext: omni.kit.search_core-1.0.8] startup
+[6.108s] [ext: omni.kit.widget.path_field-2.0.13] startup
+[6.109s] [ext: omni.kit.widget.browser_bar-2.0.11] startup
+[6.111s] [ext: omni.kit.widget.filebrowser-2.14.0] startup
+[6.118s] [ext: omni.kit.widget.nucleus_connector-2.4.0] startup
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+[6.123s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[6.124s] [ext: omni.kit.widget.search_delegate-1.0.10] startup
+[6.125s] [ext: omni.ui.scene-2.0.4] startup
+[6.132s] [ext: omni.kit.window.filepicker-3.0.14] startup
+[6.156s] [ext: omni.kit.window.file_importer-1.1.22] startup
+[6.158s] [ext: omni.kit.material.library-3.1.7] startup
+[6.166s] [ext: isaacsim.asset.transformer.rules-1.7.18] startup
+[6.183s] [ext: omni.usdex.libs-2.3.0] startup
+[6.196s] [ext: isaacsim.asset.importer.mjcf-3.12.1] startup
+[6.199s] [ext: omni.kit.primitive.mesh-1.1.1] startup
+[6.203s] [ext: omni.kit.stage_template.core-1.1.23] startup
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+[6.212s] [ext: omni.warp.core-1.16.0] startup
+[6.462s] [ext: isaacsim.core.experimental.utils-0.23.0] startup
+[6.465s] [ext: isaacsim.asset.importer.urdf-3.11.10] startup
+[6.471s] [ext: omni.physics.stageupdate-110.3.2] startup
+[6.474s] [ext: omni.physics.tensors-110.3.2] startup
+[6.482s] [ext: omni.physx.tensors-110.3.2] startup
+[6.494s] [ext: isaacsim.core.simulation_manager-1.17.1] startup
+[6.512s] [ext: isaacsim.storage.native-1.11.0] startup
+[6.514s] [ext: omni.usd.metrics.assembler.physics-110.3.2] startup
+[6.517s] [ext: isaacsim.core.utils-4.1.9] startup
+[6.521s] [ext: isaacsim.core.prims-0.11.7] startup
+[8.461s] [ext: isaacsim.core.api-5.3.2] startup
+[8.472s] [ext: isaacsim.core.cloner-1.7.5] startup
+[8.475s] [ext: isaacsim.test.docstring-1.3.2] startup
+[8.483s] [ext: isaacsim.core.experimental.prims-1.10.8] startup
+[8.507s] [ext: isaacsim.core.experimental.primdata-0.3.6] startup
+[8.511s] [ext: omni.graph.tools-1.81.0] startup
+[8.544s] [ext: omni.graph-1.142.5] startup
+[8.598s] [ext: isaacsim.core.experimental.actuators-0.1.6] startup
+[8.627s] [ext: isaacsim.core.experimental.materials-0.10.0] startup
+[8.636s] [ext: isaacsim.core.experimental.objects-0.9.0] startup
+[8.765s] [ext: omni.hydra.engine.stats-1.0.5] startup
+[8.769s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[8.772s] [ext: omni.index.libs-392300.961.0] startup
+[8.772s] [ext: omni.index-1.0.1] startup
+[8.773s] [ext: omni.ujitso.client-0.0.0] startup
+[8.774s] [ext: omni.usd.schema.playback-1.1.0] startup
+[8.777s] [ext: omni.volume-0.5.2] startup
+[8.785s] [ext: omni.hydra.rtx-1.0.4] startup
+2026-10-15T16:19:43Z [8,742ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[8.836s] [ext: omni.kit.hydra_texture-1.6.2] startup
+[8.843s] [ext: omni.kit.raycast.query-1.2.0] startup
+[8.852s] [ext: omni.kit.viewport.legacy_gizmos-1.0.24] startup
+[8.857s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[8.859s] [ext: omni.kit.viewport.scene_camera_model-1.0.7] startup
+[8.866s] [ext: omni.kit.widget.viewport-110.0.0] startup
+[8.875s] [ext: omni.kit.window.drop_support-1.0.8] startup
+[8.877s] [ext: omni.kit.viewport.window-110.0.1] startup
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+[9.247s] [ext: omni.replicator.nv-1.1.6] startup
+[9.257s] [ext: omni.videoencoding-0.2.1] startup
+[9.261s] [ext: omni.replicator.core-1.13.36] startup
+2026-10-15T16:19:44Z [9,214ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.4
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:1"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:2"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:3"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:4"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:5"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:6"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:7"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   CUDA peer access:
+     Not supported
+   Kernel cache:
+     /home/myx/.cache/warp/1.16.0
+2026-10-15T16:19:44Z [9,337ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[9.643s] [ext: isaacsim.core.nodes-5.10.13] startup
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+[10.177s] [ext: omni.kit.viewport.actions-110.1.0] startup
+[10.184s] [ext: omni.kit.viewport.menubar.display-110.0.0] startup
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+[10.196s] [ext: omni.behavior.scripting.core-110.3.0] startup
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+[10.253s] [ext: isaacsim.replicator.domain_randomization-1.2.3] startup
+[10.374s] [ext: isaacsim.replicator.writers-1.5.6] startup
+[10.432s] [ext: isaacsim.robot.experimental.wheeled_robots-0.2.14] startup
+[10.477s] [ext: isaacsim.robot_motion.experimental.motion_generation-7.1.2] startup
+[10.498s] [ext: isaacsim.robot.policy.examples-7.2.0] startup
+[12.280s] [ext: isaacsim.robot.wheeled_robots-5.2.5] startup
+[12.290s] [ext: isaacsim.robot.wheeled_robots.nodes-0.1.12] startup
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+[12.356s] [ext: isaacsim.robot_motion.cumotion-1.4.0] startup
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+[12.390s] [ext: omni.sensors.nv.camera-1.0.0] startup
+[12.401s] [ext: isaacsim.sensors.camera-1.7.13] startup
+[12.444s] [ext: isaacsim.sensors.experimental.physics-3.3.0] startup
+[12.460s] [ext: omni.sensors.net-1.0.1] startup
+[12.465s] [ext: omni.sensors.nv.common-3.0.0] startup
+[12.485s] [ext: omni.sensors.nv.materials-2.0.0] startup
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+[12.513s] [ext: isaacsim.sensors.experimental.rtx-1.9.0] startup
+[12.882s] [ext: isaacsim.sensors.physics.nodes-1.6.2] startup
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+[12.906s] [ext: isaacsim.sensors.physx-2.5.7] startup
+[12.922s] [ext: isaacsim.sensors.rtx-15.17.5] startup
+[12.944s] [ext: isaacsim.simulation_app-2.19.0] startup
+[12.944s] [ext: omni.anim.curve.core-1.6.1] startup
+[12.964s] [ext: omni.graph.ui_nodes-2.11.1] startup
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+[13.114s] [ext: omni.kit.property.geometry-2.1.2] startup
+[13.121s] [ext: omni.kit.property.light-1.0.16] startup
+[13.199s] [ext: omni.kit.property.material-1.14.10] startup
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+[13.232s] [ext: omni.kit.usdz_export-1.1.1] startup
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+[13.251s] [ext: omni.kit.ui.actions-1.0.5] startup
+[13.254s] [ext: omni.kit.viewport.menubar.camera-107.0.14] startup
+[13.266s] [ext: omni.kit.viewport.menubar.lighting-107.3.2] startup
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+[13.279s] [ext: omni.kit.viewport.menubar.settings-110.0.1] startup
+[13.288s] [ext: omni.kit.window.console-1.1.10] startup
+[13.297s] [ext: omni.kit.window.status_bar-0.1.11] startup
+[13.302s] [ext: omni.kit.window.toolbar-3.0.3] startup
+[13.306s] [ext: omni.ocio-0.1.1] startup
+[13.308s] [ext: omni.physx.commands-110.3.2] startup
+[13.314s] [ext: omni.replicator.replicator_yaml-2.0.12] startup
+[13.336s] [ext: omni.rtx.window.settings-0.8.2] startup
+[13.345s] [ext: omni.rtx.settings.core-0.7.1] startup
+[13.352s] [ext: omni.usd.metrics.assembler.ui-110.1.1] startup
+[13.364s] [ext: semantics.schema.editor-2.0.2] startup
+[13.369s] [ext: semantics.schema.property-2.0.2] startup
+[13.372s] [ext: omni.kit.menu.common-2.0.2] startup
+[13.375s] [ext: isaacsim.exp.base-6.1.0] startup
+[13.375s] [ext: isaacsim.exp.base.python-6.1.0] startup
+[13.382s] Simulation App Starting
+[15.443s] Simulation App Startup Complete
+[15.452s] app ready
+[16.158s] [ext: omni.physx.fabric-110.3.2] startup
+ACTIVITY_RESULT {"mode": "kinematic", "suppress_readback": true, "groups": [[0, 1], [2]], "names": ["a", "b", "mover"], "ccd_original": [true, false, true], "ccd_frozen": [false, false, true], "freeze_entry_error_m": 0.0, "freeze_drift_m": 0.0, "view_valid_frozen": true, "first_contact_samples": [[0.0, 0.0, 2.999318838119507, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.9550375938415527, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.8426313400268555, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.662100076675415, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.4134438037872314, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.096662759780884, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 1.7117565870285034, 0.0, 0.0, 0.0, 1.0], [0.001203514402732253, 0.0032153776846826077, 1.7000000476837158, 3.023951649083756e-07, 2.3970005713636056e-07, 0.00015771129983477294, 0.9999999403953552], [0.001203820575028658, 0.0032151443883776665, 1.7000000476837158, 3.6810706660617143e-07, 7.386319680335873e-07, 0.00015770818572491407, 1.0], [0.001203825231641531, 0.0032151415944099426, 1.7000000476837158, 3.350014310399274e-07, 7.08164009211032e-07, 0.0001577032235218212, 1.0], [0.00120382325258106, 0.003215145319700241, 1.7000000476837158, 4.233484673932253e-07, 8.247242817560618e-07, 0.0001577165676280856, 1.0], [0.0012038208078593016, 0.003215145319700241, 1.7000000476837158, 3.926754175154201e-07, 7.964027304296906e-07, 0.0001577008079038933, 1.0]], "first_contact_support_height_m": 0.20000004768371582, "ccd_restored_on_wake": true, "near_released": true, "release_entry_error_m": 0.0, "release_velocity_error": 0.0, "released_gravity_displacement_m": 0.22140634059906006, "joint_transverse_anchor_error_m": 0.0, "protected_released": true, "drive_released": true, "moving_neighbour_released": true, "contact_samples": [[[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.999318838119507, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.8426313400268555, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.4134438037872314, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.001165981637313962, -0.0011801683576777577, 2.1467854976654053, 0.004353910218924284, -0.0038728988729417324, -1.935933505592402e-05, 0.9999829530715942]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.003099030116572976, -0.0031307388562709093, 1.8400940895080566, 0.011536665260791779, -0.010276959277689457, -5.209851951804012e-05, 0.9998806118965149]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709221716970205, -0.002919111866503954, 1.7000000476837158, 9.034382628669846e-07, -4.2754464857353014e-07, 0.0005896292859688401, 0.9999998211860657]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709228701889515, -0.0029191095381975174, 1.7000000476837158, 7.759467735013459e-07, -3.787541515976045e-07, 0.0005896228249184787, 0.9999997615814209]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.002070919843390584, -0.002919101621955633, 1.7000000476837158, 8.247599225796876e-07, -4.1284516782980063e-07, 0.0005896248039789498, 0.9999998211860657]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709217060357332, -0.0029191109351813793, 1.7000000476837158, 9.013216981657024e-07, -4.0912451026997587e-07, 0.0005896209040656686, 0.9999998211860657]]], "contact_support_height_m": 0.20000004768371582, "contact_frozen_drift_m": 0.0, "collision_enabled": true, "ccd_restored_on_release_all": true, "release_all_dynamic": true, "view_valid_released": true, "statistics": {"rigid_sleep_transitions": 0, "rigid_wake_transitions": 10, "rigid_freeze_transitions": 10, "rigid_sleep_failures": 0, "soft_freeze_transitions": 0, "soft_wake_transitions": 0, "wake_radius_m": 2.5, "sleep_radius_m": 3.0, "rigid_mode": "kinematic", "rigid_pose_transport": "transforms", "eligible_rigid_bodies": 3, "eligible_soft_bodies": 0, "joint_groups": 1, "sleeping_rigid_count": 0, "frozen_rigid_count": 0, "frozen_soft": []}, "passed": true}
+[19.113s] Simulation App Shutting Down

assets/scenes/kujiale_0004_multitask/reports/probe_radius_runtime_final.log

@@ -0,0 +1,389 @@
+Starting kit application with the following args:  ['/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni/kit/plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps', '--/app/extensions/registryEnabled=false', '--/exts/omni.kit.telemetry/enable=false', '--/crashreporter/enabled=false', '--/renderer/activeGpu=2', '--/physics/cudaDevice=2', '--/plugins/carb.tasking.plugin/threadCount=16', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=16', '--portable', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  []
+2026-10-15T16:03:33Z [Info] [carb] Logging to file: /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim Python/6.1/kit_20261015_160333.log
+[0.132s] [ext: omni.assets.plugins-0.0.0] startup
+[0.134s] [ext: omni.blobkey-1.1.2] startup
+[0.135s] [ext: omni.kit.async_engine-0.0.3] startup
+[1.327s] [ext: omni.client.lib-1.1.1] startup
+[1.361s] [ext: omni.client-1.3.0] startup
+[1.371s] [ext: omni.protobuf.lib-1.0.1] startup
+[1.373s] [ext: omni.grpc.lib-1.0.0] startup
+[1.384s] [ext: omni.metrics.core-0.0.3] startup
+[1.384s] [ext: omni.datastore-0.0.0] startup
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792080215.032269 2072320 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792080215.032322 2072320 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+[1.386s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[1.391s] [ext: omni.hsscclient-1.1.4] startup
+[1.392s] [ext: omni.stats-1.0.1] startup
+[1.394s] [ext: omni.ujitso.default-1.0.0] startup
+[1.487s] [ext: omni.gpu_foundation-0.0.0] startup
+[1.798s] [ext: carb.windowing.plugins-1.0.1] startup
+[1.799s] [ext: omni.kit.renderer.init-1.0.1] startup
+2026-10-15T16:03:35Z [1,806ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 615.71.09     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | b1ccc317.. |
+|     |                                  |        |     |            | 35        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 5b4776e5.. |
+|     |                                  |        |     |            | 36        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ee47e4bd.. |
+|     |                                  |        |     |            | 39        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e2bdf6e1.. |
+|     |                                  |        |     |            | 3d        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4a60c7ee.. |
+|     |                                  |        |     |            | 9c        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 23fb4690.. |
+|     |                                  |        |     |            | 9d        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | cec698e7.. |
+|     |                                  |        |     |            | a0        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e80f09d2.. |
+|     |                                  |        |     |            | a4        |            |
+|=============================================================================================|
+| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 5.15.0-198-generic
+| Processor: Intel(R) Xeon(R) Silver 4314 CPU @ 2.40GHz
+| Cores: 32 | Logical Cores: 64
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 257568 | Free Memory: 234032
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 7995
+|---------------------------------------------------------------------------------------------|
+[4.539s] [ext: omni.kit.pipapi-0.0.0] startup
+[4.542s] [ext: omni.kit.telemetry-0.5.2] startup
+[4.623s] [ext: omni.kit.loop-isaac-1.6.2] startup
+[4.633s] [ext: omni.kit.test-2.1.1] startup
+[4.737s] [ext: omni.materialx.libs-1.0.9] startup
+[4.747s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[4.748s] [ext: omni.usd.config-1.0.8] startup
+[4.767s] [ext: omni.usd.libs-1.0.3] startup
+[4.903s] [ext: omni.iray.libs-0.0.1] startup
+[4.909s] [ext: omni.mdl-57.0.6] startup
+[5.023s] [ext: omni.mdl.neuraylib-0.2.22] startup
+[5.028s] [ext: omni.kit.usd.mdl-1.1.11] startup
+[5.181s] [ext: omni.appwindow-1.2.2] startup
+[5.184s] [ext: omni.kit.renderer.core-1.3.1] startup
+2026-10-15T16:03:38Z [5,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:03:38Z [5,140ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.230s] [ext: omni.kit.renderer.capture-2.0.1] startup
+[5.234s] [ext: omni.kit.renderer.imgui-2.1.0] startup
+2026-10-15T16:03:38Z [5,168ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:03:38Z [5,168ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-15T16:03:38Z [5,169ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:03:38Z [5,169ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.351s] [ext: omni.ui-3.3.1] startup
+[5.365s] [ext: omni.kit.mainwindow-1.0.4] startup
+[5.367s] [ext: carb.audio-0.1.0] startup
+[5.372s] [ext: omni.uiaudio-1.0.0] startup
+[5.373s] [ext: omni.kit.uiapp-0.0.0] startup
+[5.373s] [ext: omni.usd.schema.metrics.assembler-110.1.0] startup
+[5.379s] [ext: omni.usd.schema.audio-0.0.1] startup
+[5.385s] [ext: omni.usd_resolver-1.0.0] startup
+[5.390s] [ext: omni.usd.core-1.10.10] startup
+[5.396s] [ext: omni.metropolis.schema-0.0.3] startup
+[5.397s] [ext: isaacsim.anim.robot.schema-0.1.1] startup
+[5.398s] [ext: isaacsim.common-6.2.0] startup
+[5.400s] [ext: omni.usd.schema.anim-0.0.1] startup
+[5.426s] [ext: omni.usd.schema.geospatial-0.0.1] startup
+[5.434s] [ext: omni.usd.schema.omnigraph-1.0.1] startup
+[5.442s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[5.446s] [ext: omni.activity.core-1.0.4] startup
+[5.448s] [ext: omni.cubric-0.1.0] startup
+[5.449s] [ext: omni.graph.exec-0.9.6] startup
+[5.449s] [ext: omni.hydra.scene_delegate-0.3.5] startup
+[5.455s] [ext: usdrt.scenegraph-7.6.3] startup
+[5.492s] [ext: omni.hydra.usdrt_delegate-7.5.2] startup
+[5.501s] [ext: omni.inspect-1.0.2] startup
+[5.504s] [ext: omni.kit.actions.core-1.2.0] startup
+[5.507s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[5.509s] [ext: omni.kit.commands-1.5.0] startup
+[5.514s] [ext: omni.kit.exec.core-0.13.6] startup
+[5.516s] [ext: omni.kit.usd_undo-0.1.8] startup
+[5.517s] [ext: omni.kit.window.popup_dialog-2.0.26] startup
+[5.522s] [ext: omni.kit.widget.connection_manager-1.0.3] startup
+[5.530s] [ext: omni.timeline-1.1.0] startup
+[5.533s] [ext: omni.usd-1.18.0] startup
+[5.588s] [ext: omni.graph.core-3.1.5] startup
+[5.592s] [ext: omni.kit.notification_manager-1.0.16] startup
+[5.595s] [ext: isaacsim.core.deprecation_manager-0.4.4] startup
+[5.596s] [ext: isaacsim.replicator.agent.schema-0.1.1] startup
+[5.598s] [ext: isaacsim.robot.schema-7.0.2] startup
+[5.606s] [ext: isaacsim.robot_motion.schema-0.2.2] startup
+[5.607s] [ext: omni.anim.behavior.schema-110.3.0] startup
+[5.613s] [ext: omni.anim.graph.schema-110.3.0] startup
+[5.621s] [ext: omni.anim.navigation.schema-110.3.0] startup
+[5.626s] [ext: omni.behavior.tree.schema-110.3.0] startup
+[5.628s] [ext: omni.kit.asset_converter-6.0.5] startup
+2026-10-15T16:03:39Z [5,558ms] [Warning] [asset_converter_native_bindings._bootstrap] A different OpenUSD (pxr) build was already imported from /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.anim.graph.schema-110.3.0+110.3.0.lx64.r.cp312.u7f4/pxr before usd-convert-asset loaded. The host pxr bindings will remain in use rather than reloading the bundled OpenUSD at /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/lib/python/pxr, /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/python/pxr. Mixing USD builds in one process can cause ABI and singleton conflicts; prefer importing usd_convert_asset first, or run the converter in a separate process/venv when mixing unrelated USD builds.
+[5.647s] [ext: omni.usd.schema.flow-110.0.0] startup
+[5.648s] [ext: omni.usd.schema.newton-1.4.0] startup
+[5.650s] [ext: omni.usd.schema.mujoco-1.1.4] startup
+[5.652s] [ext: omni.usd.schema.omni_dome_light-1.0.0] startup
+[5.653s] [ext: omni.usd.schema.omni_lens_distortion-1.0.0] startup
+[5.654s] [ext: omni.usd.schema.omni_projectors-1.0.0] startup
+[5.655s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[5.666s] [ext: omni.usd.schema.omniscripting-1.0.1] startup
+[5.672s] [ext: omni.usd.schema.physical_lighting-0.1.0] startup
+[5.677s] [ext: omni.usd.schema.physx-110.3.2] startup
+[5.719s] [ext: omni.usd.schema.render_settings.rtx-1.0.3] startup
+[5.726s] [ext: omni.usd.schema.usd_particle_field-1.0.0] startup
+[5.727s] [ext: isaacsim.core.version-2.2.1] startup
+[5.737s] [ext: omni.kit.menu.core-1.3.0] startup
+[5.738s] [ext: omni.kit.menu.utils-2.2.8] startup
+[5.748s] [ext: isaacsim.app.about-2.3.2] startup
+[5.755s] [ext: isaacsim.asset.transformer-6.1.0] startup
+[5.759s] [ext: omni.scene.optimizer.core-110.2.1] startup
+[5.849s] [ext: isaacsim.asset.importer.utils-1.9.1] startup
+[5.853s] [ext: omni.convexdecomposition-110.3.2] startup
+[5.857s] [ext: omni.physics-110.3.2] startup
+[5.862s] [ext: omni.physx.gpu-110.3.2] startup
+[5.862s] [ext: omni.physx.foundation-110.3.2] startup
+[5.865s] [ext: omni.usdphysics-110.3.2] startup
+[5.868s] [ext: omni.physx.cooking-110.3.2] startup
+[5.872s] [ext: omni.physx-110.3.2] startup
+[5.893s] [ext: omni.physics.physx-110.3.2] startup
+[5.896s] [ext: isaacsim.asset.exporter.urdf-2.2.6] startup
+[5.907s] [ext: omni.kit.clipboard-1.1.1] startup
+[5.909s] [ext: omni.kit.usd.layers-2.7.2] startup
+[5.919s] [ext: omni.kit.widget.context_menu-1.5.0] startup
+[5.922s] [ext: omni.kit.context_menu-1.10.0] startup
+[5.924s] [ext: omni.kit.helper.file_utils-0.1.10] startup
+[5.927s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
+[5.928s] [ext: omni.kit.search_core-1.0.8] startup
+[5.929s] [ext: omni.kit.widget.path_field-2.0.13] startup
+[5.930s] [ext: omni.kit.widget.browser_bar-2.0.11] startup
+[5.931s] [ext: omni.kit.widget.filebrowser-2.14.0] startup
+[5.938s] [ext: omni.kit.widget.nucleus_connector-2.4.0] startup
+[5.938s] [ext: omni.kit.widget.options_menu-1.1.7] startup
+[5.943s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[5.943s] [ext: omni.kit.widget.search_delegate-1.0.10] startup
+[5.945s] [ext: omni.ui.scene-2.0.4] startup
+[5.951s] [ext: omni.kit.window.filepicker-3.0.14] startup
+[5.974s] [ext: omni.kit.window.file_importer-1.1.22] startup
+[5.977s] [ext: omni.kit.material.library-3.1.7] startup
+[5.984s] [ext: isaacsim.asset.transformer.rules-1.7.18] startup
+[6.000s] [ext: omni.usdex.libs-2.3.0] startup
+[6.013s] [ext: isaacsim.asset.importer.mjcf-3.12.1] startup
+[6.015s] [ext: omni.kit.primitive.mesh-1.1.1] startup
+[6.019s] [ext: omni.kit.stage_template.core-1.1.23] startup
+[6.020s] [ext: omni.kit.stage_templates-2.0.3] startup
+[6.023s] [ext: omni.usd.metrics.assembler-110.1.2] startup
+[6.028s] [ext: omni.warp.core-1.16.0] startup
+[6.278s] [ext: isaacsim.core.experimental.utils-0.23.0] startup
+[6.281s] [ext: isaacsim.asset.importer.urdf-3.11.10] startup
+[6.287s] [ext: omni.physics.stageupdate-110.3.2] startup
+[6.290s] [ext: omni.physics.tensors-110.3.2] startup
+[6.297s] [ext: omni.physx.tensors-110.3.2] startup
+[6.309s] [ext: isaacsim.core.simulation_manager-1.17.1] startup
+[6.328s] [ext: isaacsim.storage.native-1.11.0] startup
+[6.330s] [ext: omni.usd.metrics.assembler.physics-110.3.2] startup
+[6.333s] [ext: isaacsim.core.utils-4.1.9] startup
+[6.337s] [ext: isaacsim.core.prims-0.11.7] startup
+[8.199s] [ext: isaacsim.core.api-5.3.2] startup
+[8.211s] [ext: isaacsim.core.cloner-1.7.5] startup
+[8.213s] [ext: isaacsim.test.docstring-1.3.2] startup
+[8.220s] [ext: isaacsim.core.experimental.prims-1.10.8] startup
+[8.245s] [ext: isaacsim.core.experimental.primdata-0.3.6] startup
+[8.248s] [ext: omni.graph.tools-1.81.0] startup
+[8.282s] [ext: omni.graph-1.142.5] startup
+[8.337s] [ext: isaacsim.core.experimental.actuators-0.1.6] startup
+[8.364s] [ext: isaacsim.core.experimental.materials-0.10.0] startup
+[8.370s] [ext: isaacsim.core.experimental.objects-0.9.0] startup
+[8.479s] [ext: omni.hydra.engine.stats-1.0.5] startup
+[8.483s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[8.485s] [ext: omni.index.libs-392300.961.0] startup
+[8.485s] [ext: omni.index-1.0.1] startup
+[8.486s] [ext: omni.ujitso.client-0.0.0] startup
+[8.487s] [ext: omni.usd.schema.playback-1.1.0] startup
+[8.489s] [ext: omni.volume-0.5.2] startup
+[8.497s] [ext: omni.hydra.rtx-1.0.4] startup
+2026-10-15T16:03:42Z [8,448ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[8.548s] [ext: omni.kit.hydra_texture-1.6.2] startup
+[8.555s] [ext: omni.kit.raycast.query-1.2.0] startup
+[8.563s] [ext: omni.kit.viewport.legacy_gizmos-1.0.24] startup
+[8.567s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[8.569s] [ext: omni.kit.viewport.scene_camera_model-1.0.7] startup
+[8.576s] [ext: omni.kit.widget.viewport-110.0.0] startup
+[8.583s] [ext: omni.kit.window.drop_support-1.0.8] startup
+[8.584s] [ext: omni.kit.viewport.window-110.0.1] startup
+[8.609s] [ext: omni.kit.viewport.utility-2.1.0] startup
+[8.611s] [ext: isaacsim.core.rendering_manager-0.5.1] startup
+[8.626s] [ext: omni.graph.action_core-1.1.9] startup
+[8.630s] [ext: omni.graph.action_nodes_core-2.11.0] startup
+[8.634s] [ext: omni.graph.action_nodes-2.11.0] startup
+[8.675s] [ext: omni.graph.action-2.10.2] startup
+[8.678s] [ext: omni.graph.image.core-0.6.1] startup
+[8.679s] [ext: omni.graph.image.nodes-1.3.2] startup
+[8.681s] [ext: omni.graph.nodes_core-2.11.0] startup
+[8.691s] [ext: omni.graph.nodes-2.12.0] startup
+[8.701s] [ext: omni.kit.hotkeys.core-1.4.0] startup
+[8.702s] [ext: omni.kit.property.adapter.core-1.1.1] startup
+[8.707s] [ext: omni.kit.property.adapter.usd-1.0.6] startup
+[8.709s] [ext: omni.kit.widget.filter-1.1.8] startup
+[8.711s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[8.712s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[8.714s] [ext: omni.kit.window.file_exporter-1.0.38] startup
+[8.716s] [ext: omni.kit.widget.stage-4.6.5] startup
+[8.731s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[8.733s] [ext: omni.kit.window.file-2.0.15] startup
+[8.739s] [ext: omni.kit.window.content_browser-3.1.12] startup
+[8.756s] [ext: omni.kit.window.property-1.15.2] startup
+[8.790s] [ext: omni.kit.property.usd-4.9.14] startup
+[8.814s] [ext: omni.graph.scriptnode-2.10.2] startup
+[8.832s] [ext: omni.kit.widget.searchable_combobox-1.0.7] startup
+[8.834s] [ext: omni.kit.widget.settings-2.0.1] startup
+[8.839s] [ext: omni.kit.window.preferences-1.8.5] startup
+[8.852s] [ext: omni.kit.viewport.menubar.core-110.0.3] startup
+[8.880s] [ext: omni.syntheticdata-0.6.17] startup
+[8.928s] [ext: omni.replicator.nv-1.1.6] startup
+[8.938s] [ext: omni.videoencoding-0.2.1] startup
+[8.942s] [ext: omni.replicator.core-1.13.36] startup
+2026-10-15T16:03:42Z [8,890ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.4
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:1"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:2"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:3"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:4"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:5"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:6"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:7"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   CUDA peer access:
+     Not supported
+   Kernel cache:
+     /home/myx/.cache/warp/1.16.0
+2026-10-15T16:03:42Z [9,006ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[9.310s] [ext: isaacsim.core.nodes-5.10.13] startup
+[9.374s] [ext: isaacsim.core.throttling-2.3.7] startup
+[9.378s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[9.381s] [ext: omni.graph.visualization.nodes-2.1.4] startup
+[9.410s] [ext: omni.kit.window.extensions-1.5.16] startup
+[9.423s] [ext: isaacsim.gui.components-1.8.9] startup
+[9.433s] [ext: isaacsim.robot.surface_gripper-3.6.3] startup
+[9.456s] [ext: isaacsim.robot.manipulators-3.4.5] startup
+[9.479s] [ext: isaacsim.robot_motion.lula-4.1.4] startup
+[9.490s] [ext: isaacsim.robot_motion.motion_generation-8.2.9] startup
+[9.507s] [ext: isaacsim.cortex.framework-1.0.20] startup
+[9.510s] [ext: isaacsim.cortex.behaviors-2.0.18] startup
+[9.514s] [ext: isaacsim.examples.base-1.3.4] startup
+[9.520s] [ext: omni.kit.widget.zoombar-1.0.7] startup
+[9.523s] [ext: omni.kit.browser.core-2.3.18] startup
+[9.532s] [ext: omni.kit.browser.folder.core-2.0.3] startup
+[9.544s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[9.546s] [ext: omni.kit.window.stage-2.6.1] startup
+[9.553s] [ext: omni.kit.menu.stage-1.2.7] startup
+[9.555s] [ext: omni.kit.usd.collect-3.0.6] startup
+[9.560s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[9.562s] [ext: omni.kit.tool.collect-2.2.19] startup
+[9.567s] [ext: isaacsim.examples.browser-0.3.4] startup
+[9.572s] [ext: omni.kit.search.files-1.0.4] startup
+[9.574s] [ext: omni.kit.widget.calendar-1.0.9] startup
+[9.577s] [ext: omni.kit.widget.extended_searchfield-1.0.31] startup
+[9.594s] [ext: omni.simready.content.browser-0.3.8] startup
+[9.780s] [ext: isaacsim.gui.content_browser-0.5.1] startup
+[9.785s] [ext: omni.kit.selection-0.1.6] startup
+[9.788s] [ext: isaacsim.gui.menu-2.10.12] startup
+[9.805s] [ext: isaacsim.gui.property-1.6.4] startup
+[9.819s] [ext: omni.kit.viewport.actions-110.1.0] startup
+[9.826s] [ext: omni.kit.viewport.menubar.display-110.0.0] startup
+[9.830s] [ext: isaacsim.gui.sensors.icon-2.2.4] startup
+[9.837s] [ext: omni.behavior.scripting.core-110.3.0] startup
+[9.843s] [ext: isaacsim.replicator.behavior-1.6.2] startup
+[9.858s] [ext: isaacsim.replicator.experimental.domain_randomization-1.2.10] startup
+[9.893s] [ext: isaacsim.replicator.domain_randomization-1.2.3] startup
+[10.013s] [ext: isaacsim.replicator.writers-1.5.6] startup
+[10.068s] [ext: isaacsim.robot.experimental.wheeled_robots-0.2.14] startup
+[10.111s] [ext: isaacsim.robot_motion.experimental.motion_generation-7.1.2] startup
+[10.132s] [ext: isaacsim.robot.policy.examples-7.2.0] startup
+[12.285s] [ext: isaacsim.robot.wheeled_robots-5.2.5] startup
+[12.298s] [ext: isaacsim.robot.wheeled_robots.nodes-0.1.12] startup
+[12.344s] [ext: isaacsim.robot_motion.controllers-0.3.2] startup
+[12.363s] [ext: isaacsim.robot_motion.cumotion-1.4.0] startup
+[12.389s] [ext: omni.kit.numpy.common-0.1.3] startup
+[12.391s] [ext: omni.rtx.spg-0.4.0] startup
+[12.401s] [ext: omni.sensors.nv.camera-1.0.0] startup
+[12.412s] [ext: isaacsim.sensors.camera-1.7.13] startup
+[12.455s] [ext: isaacsim.sensors.experimental.physics-3.3.0] startup
+[12.473s] [ext: omni.sensors.net-1.0.1] startup
+[12.478s] [ext: omni.sensors.nv.common-3.0.0] startup
+[12.499s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[12.506s] [ext: omni.sensors.nv.acoustic-3.0.0] startup
+[12.511s] [ext: omni.sensors.nv.ids-2.0.1] startup
+[12.515s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[12.522s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[12.528s] [ext: isaacsim.sensors.experimental.rtx-1.9.0] startup
+[12.910s] [ext: isaacsim.sensors.physics.nodes-1.6.2] startup
+[12.923s] [ext: isaacsim.util.debug_draw-3.2.6] startup
+[12.934s] [ext: isaacsim.sensors.physx-2.5.7] startup
+[12.950s] [ext: isaacsim.sensors.rtx-15.17.5] startup
+[12.972s] [ext: isaacsim.simulation_app-2.19.0] startup
+[12.973s] [ext: omni.anim.curve.core-1.6.1] startup
+[12.992s] [ext: omni.graph.ui_nodes-2.11.1] startup
+[13.057s] [ext: omni.kit.manipulator.camera-110.1.0] startup
+[13.066s] [ext: omni.kit.manipulator.selector-1.1.4] startup
+[13.069s] [ext: omni.kit.manipulator.transform-107.0.1] startup
+[13.079s] [ext: omni.kit.widget.toolbar-2.1.0] startup
+[13.095s] [ext: omni.kit.manipulator.tool.snap-1.5.15] startup
+[13.105s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[13.109s] [ext: omni.kit.manipulator.prim.core-108.0.2] startup
+[13.122s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[13.125s] [ext: omni.kit.manipulator.prim-108.0.0] startup
+[13.125s] [ext: omni.kit.manipulator.selection-110.0.0] startup
+[13.128s] [ext: omni.kit.menu.create-2.0.2] startup
+[13.132s] [ext: omni.kit.property.audio-1.0.18] startup
+[13.139s] [ext: omni.kit.property.camera-1.0.14] startup
+[13.142s] [ext: omni.kit.property.geometry-2.1.2] startup
+[13.148s] [ext: omni.kit.property.light-1.0.16] startup
+[13.224s] [ext: omni.kit.property.material-1.14.10] startup
+[13.240s] [ext: omni.kit.property.render-1.2.2] startup
+[13.243s] [ext: omni.kit.property.transform-1.6.12] startup
+[13.249s] [ext: omni.kit.property.bundle-1.5.2] startup
+[13.253s] [ext: omni.kit.usdz_export-1.1.1] startup
+[13.258s] [ext: omni.kit.tool.asset_importer-6.0.2] startup
+[13.270s] [ext: omni.kit.ui.actions-1.0.5] startup
+[13.273s] [ext: omni.kit.viewport.menubar.camera-107.0.14] startup
+[13.285s] [ext: omni.kit.viewport.menubar.lighting-107.3.2] startup
+[13.290s] [ext: omni.kit.viewport.menubar.render-110.1.1] startup
+[13.297s] [ext: omni.kit.viewport.menubar.settings-110.0.1] startup
+[13.306s] [ext: omni.kit.window.console-1.1.10] startup
+[13.315s] [ext: omni.kit.window.status_bar-0.1.11] startup
+[13.320s] [ext: omni.kit.window.toolbar-3.0.3] startup
+[13.324s] [ext: omni.ocio-0.1.1] startup
+[13.326s] [ext: omni.physx.commands-110.3.2] startup
+[13.332s] [ext: omni.replicator.replicator_yaml-2.0.12] startup
+[13.354s] [ext: omni.rtx.window.settings-0.8.2] startup
+[13.362s] [ext: omni.rtx.settings.core-0.7.1] startup
+[13.369s] [ext: omni.usd.metrics.assembler.ui-110.1.1] startup
+[13.381s] [ext: semantics.schema.editor-2.0.2] startup
+[13.386s] [ext: semantics.schema.property-2.0.2] startup
+[13.390s] [ext: omni.kit.menu.common-2.0.2] startup
+[13.393s] [ext: isaacsim.exp.base-6.1.0] startup
+[13.393s] [ext: isaacsim.exp.base.python-6.1.0] startup
+[13.400s] Simulation App Starting
+[15.616s] Simulation App Startup Complete
+[15.625s] app ready
+[16.299s] [ext: omni.physx.fabric-110.3.2] startup
+ACTIVITY_RESULT {"mode": "kinematic", "suppress_readback": true, "groups": [[0, 1], [2]], "names": ["a", "b", "mover"], "freeze_entry_error_m": 0.0, "freeze_drift_m": 0.0, "view_valid_frozen": true, "first_contact_samples": [[0.0, 0.0, 2.999318838119507, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.9550375938415527, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.8426313400268555, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.662100076675415, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.4134438037872314, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.096662759780884, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 1.7117565870285034, 0.0, 0.0, 0.0, 1.0], [0.001203514402732253, 0.0032153776846826077, 1.7000000476837158, 3.023951649083756e-07, 2.3970005713636056e-07, 0.00015771129983477294, 0.9999999403953552], [0.001203820575028658, 0.0032151443883776665, 1.7000000476837158, 3.6810706660617143e-07, 7.386319680335873e-07, 0.00015770818572491407, 1.0], [0.001203825231641531, 0.0032151415944099426, 1.7000000476837158, 3.350014310399274e-07, 7.08164009211032e-07, 0.0001577032235218212, 1.0], [0.00120382325258106, 0.003215145319700241, 1.7000000476837158, 4.233484673932253e-07, 8.247242817560618e-07, 0.0001577165676280856, 1.0], [0.0012038208078593016, 0.003215145319700241, 1.7000000476837158, 3.926754175154201e-07, 7.964027304296906e-07, 0.0001577008079038933, 1.0]], "first_contact_support_height_m": 0.20000004768371582, "near_released": true, "release_entry_error_m": 0.0, "release_velocity_error": 0.0, "released_gravity_displacement_m": 0.22140634059906006, "joint_transverse_anchor_error_m": 0.0, "protected_released": true, "drive_released": true, "moving_neighbour_released": true, "contact_samples": [[[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.999318838119507, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.8426313400268555, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 2.4134438037872314, 0.0, 0.0, 0.0, 1.0]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.001165981637313962, -0.0011801683576777577, 2.1467854976654053, 0.004353910218924284, -0.0038728988729417324, -1.935933505592402e-05, 0.9999829530715942]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.003099030116572976, -0.0031307388562709093, 1.8400940895080566, 0.011536665260791779, -0.010276959277689457, -5.209851951804012e-05, 0.9998806118965149]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709221716970205, -0.002919111866503954, 1.7000000476837158, 9.034382628669846e-07, -4.2754464857353014e-07, 0.0005896292859688401, 0.9999998211860657]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709228701889515, -0.0029191095381975174, 1.7000000476837158, 7.759467735013459e-07, -3.787541515976045e-07, 0.0005896228249184787, 0.9999997615814209]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.002070919843390584, -0.002919101621955633, 1.7000000476837158, 8.247599225796876e-07, -4.1284516782980063e-07, 0.0005896248039789498, 0.9999998211860657]], [[0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [0.3499999940395355, 0.0, 1.5, 0.0, 0.0, 0.0, 1.0], [-0.0020709217060357332, -0.0029191109351813793, 1.7000000476837158, 9.013216981657024e-07, -4.0912451026997587e-07, 0.0005896209040656686, 0.9999998211860657]]], "contact_support_height_m": 0.20000004768371582, "contact_frozen_drift_m": 0.0, "collision_enabled": true, "release_all_dynamic": true, "view_valid_released": true, "statistics": {"rigid_sleep_transitions": 0, "rigid_wake_transitions": 10, "rigid_freeze_transitions": 10, "rigid_sleep_failures": 0, "soft_freeze_transitions": 0, "soft_wake_transitions": 0, "wake_radius_m": 2.5, "sleep_radius_m": 3.0, "rigid_mode": "kinematic", "rigid_pose_transport": "transforms", "eligible_rigid_bodies": 3, "eligible_soft_bodies": 0, "joint_groups": 1, "sleeping_rigid_count": 0, "frozen_rigid_count": 0, "frozen_soft": []}, "passed": true}
+[19.419s] Simulation App Shutting Down

assets/scenes/kujiale_0004_multitask/reports/probe_radius_transform_probe.log

@@ -0,0 +1,389 @@
+Starting kit application with the following args:  ['/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni/kit/plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=1280', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps', '--/app/extensions/registryEnabled=false', '--/exts/omni.kit.telemetry/enable=false', '--/crashreporter/enabled=false', '--/renderer/activeGpu=2', '--/physics/cudaDevice=2', '--/plugins/carb.tasking.plugin/threadCount=16', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=16', '--portable', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  []
+2026-10-15T16:00:38Z [Info] [carb] Logging to file: /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit/logs/Kit/Isaac-Sim Python/6.1/kit_20261015_160037.log
+[0.163s] [ext: omni.assets.plugins-0.0.0] startup
+[0.165s] [ext: omni.blobkey-1.1.2] startup
+[0.165s] [ext: omni.kit.async_engine-0.0.3] startup
+[1.086s] [ext: omni.client.lib-1.1.1] startup
+[1.107s] [ext: omni.client-1.3.0] startup
+[1.118s] [ext: omni.protobuf.lib-1.0.1] startup
+[1.120s] [ext: omni.grpc.lib-1.0.0] startup
+[1.129s] [ext: omni.metrics.core-0.0.3] startup
+[1.130s] [ext: omni.datastore-0.0.0] startup
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792080039.044360 2070848 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792080039.044401 2070848 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+[1.132s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[1.136s] [ext: omni.hsscclient-1.1.4] startup
+[1.137s] [ext: omni.stats-1.0.1] startup
+[1.139s] [ext: omni.ujitso.default-1.0.0] startup
+[1.313s] [ext: omni.gpu_foundation-0.0.0] startup
+[1.617s] [ext: carb.windowing.plugins-1.0.1] startup
+[1.618s] [ext: omni.kit.renderer.init-1.0.1] startup
+2026-10-15T16:00:39Z [1,602ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 615.71.09     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | b1ccc317.. |
+|     |                                  |        |     |            | 35        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 5b4776e5.. |
+|     |                                  |        |     |            | 36        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ee47e4bd.. |
+|     |                                  |        |     |            | 39        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e2bdf6e1.. |
+|     |                                  |        |     |            | 3d        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4a60c7ee.. |
+|     |                                  |        |     |            | 9c        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 23fb4690.. |
+|     |                                  |        |     |            | 9d        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | cec698e7.. |
+|     |                                  |        |     |            | a0        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e80f09d2.. |
+|     |                                  |        |     |            | a4        |            |
+|=============================================================================================|
+| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 5.15.0-198-generic
+| Processor: Intel(R) Xeon(R) Silver 4314 CPU @ 2.40GHz
+| Cores: 32 | Logical Cores: 64
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 257568 | Free Memory: 242080
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 7995
+|---------------------------------------------------------------------------------------------|
+[4.122s] [ext: omni.kit.pipapi-0.0.0] startup
+[4.126s] [ext: omni.kit.telemetry-0.5.2] startup
+[4.180s] [ext: omni.kit.loop-isaac-1.6.2] startup
+[4.190s] [ext: omni.kit.test-2.1.1] startup
+[4.293s] [ext: omni.materialx.libs-1.0.9] startup
+[4.303s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[4.304s] [ext: omni.usd.config-1.0.8] startup
+[4.329s] [ext: omni.usd.libs-1.0.3] startup
+[4.458s] [ext: omni.iray.libs-0.0.1] startup
+[4.464s] [ext: omni.mdl-57.0.6] startup
+[4.556s] [ext: omni.mdl.neuraylib-0.2.22] startup
+[4.559s] [ext: omni.kit.usd.mdl-1.1.11] startup
+[4.702s] [ext: omni.appwindow-1.2.2] startup
+[4.705s] [ext: omni.kit.renderer.core-1.3.1] startup
+2026-10-15T16:00:42Z [4,642ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:00:42Z [4,642ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[4.751s] [ext: omni.kit.renderer.capture-2.0.1] startup
+[4.754s] [ext: omni.kit.renderer.imgui-2.1.0] startup
+2026-10-15T16:00:42Z [4,669ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:00:42Z [4,669ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-15T16:00:42Z [4,670ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-15T16:00:42Z [4,670ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[4.861s] [ext: omni.ui-3.3.1] startup
+[4.874s] [ext: omni.kit.mainwindow-1.0.4] startup
+[4.876s] [ext: carb.audio-0.1.0] startup
+[4.881s] [ext: omni.uiaudio-1.0.0] startup
+[4.882s] [ext: omni.kit.uiapp-0.0.0] startup
+[4.882s] [ext: omni.usd.schema.metrics.assembler-110.1.0] startup
+[4.888s] [ext: omni.usd.schema.audio-0.0.1] startup
+[4.892s] [ext: omni.usd_resolver-1.0.0] startup
+[4.897s] [ext: omni.usd.core-1.10.10] startup
+[4.902s] [ext: omni.metropolis.schema-0.0.3] startup
+[4.903s] [ext: isaacsim.anim.robot.schema-0.1.1] startup
+[4.904s] [ext: isaacsim.common-6.2.0] startup
+[4.905s] [ext: omni.usd.schema.anim-0.0.1] startup
+[4.930s] [ext: omni.usd.schema.geospatial-0.0.1] startup
+[4.933s] [ext: omni.usd.schema.omnigraph-1.0.1] startup
+[4.941s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[4.944s] [ext: omni.activity.core-1.0.4] startup
+[4.946s] [ext: omni.cubric-0.1.0] startup
+[4.946s] [ext: omni.graph.exec-0.9.6] startup
+[4.947s] [ext: omni.hydra.scene_delegate-0.3.5] startup
+[4.952s] [ext: usdrt.scenegraph-7.6.3] startup
+[4.988s] [ext: omni.hydra.usdrt_delegate-7.5.2] startup
+[4.997s] [ext: omni.inspect-1.0.2] startup
+[4.999s] [ext: omni.kit.actions.core-1.2.0] startup
+[5.002s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[5.003s] [ext: omni.kit.commands-1.5.0] startup
+[5.008s] [ext: omni.kit.exec.core-0.13.6] startup
+[5.010s] [ext: omni.kit.usd_undo-0.1.8] startup
+[5.011s] [ext: omni.kit.window.popup_dialog-2.0.26] startup
+[5.016s] [ext: omni.kit.widget.connection_manager-1.0.3] startup
+[5.024s] [ext: omni.timeline-1.1.0] startup
+[5.027s] [ext: omni.usd-1.18.0] startup
+[5.078s] [ext: omni.graph.core-3.1.5] startup
+[5.084s] [ext: omni.kit.notification_manager-1.0.16] startup
+[5.086s] [ext: isaacsim.core.deprecation_manager-0.4.4] startup
+[5.087s] [ext: isaacsim.replicator.agent.schema-0.1.1] startup
+[5.088s] [ext: isaacsim.robot.schema-7.0.2] startup
+[5.096s] [ext: isaacsim.robot_motion.schema-0.2.2] startup
+[5.098s] [ext: omni.anim.behavior.schema-110.3.0] startup
+[5.103s] [ext: omni.anim.graph.schema-110.3.0] startup
+[5.111s] [ext: omni.anim.navigation.schema-110.3.0] startup
+[5.115s] [ext: omni.behavior.tree.schema-110.3.0] startup
+[5.116s] [ext: omni.kit.asset_converter-6.0.5] startup
+2026-10-15T16:00:43Z [5,028ms] [Warning] [asset_converter_native_bindings._bootstrap] A different OpenUSD (pxr) build was already imported from /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.usd.libs-1.0.3+00c488ae.lx64.r.cp312/pxr before usd-convert-asset loaded. The host pxr bindings will remain in use rather than reloading the bundled OpenUSD at /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/lib/python/pxr, /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/python/pxr. Mixing USD builds in one process can cause ABI and singleton conflicts; prefer importing usd_convert_asset first, or run the converter in a separate process/venv when mixing unrelated USD builds.
+[5.135s] [ext: omni.usd.schema.flow-110.0.0] startup
+[5.135s] [ext: omni.usd.schema.newton-1.4.0] startup
+[5.137s] [ext: omni.usd.schema.mujoco-1.1.4] startup
+[5.139s] [ext: omni.usd.schema.omni_dome_light-1.0.0] startup
+[5.140s] [ext: omni.usd.schema.omni_lens_distortion-1.0.0] startup
+[5.141s] [ext: omni.usd.schema.omni_projectors-1.0.0] startup
+[5.142s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[5.151s] [ext: omni.usd.schema.omniscripting-1.0.1] startup
+[5.157s] [ext: omni.usd.schema.physical_lighting-0.1.0] startup
+[5.161s] [ext: omni.usd.schema.physx-110.3.2] startup
+[5.202s] [ext: omni.usd.schema.render_settings.rtx-1.0.3] startup
+[5.209s] [ext: omni.usd.schema.usd_particle_field-1.0.0] startup
+[5.210s] [ext: isaacsim.core.version-2.2.1] startup
+[5.221s] [ext: omni.kit.menu.core-1.3.0] startup
+[5.222s] [ext: omni.kit.menu.utils-2.2.8] startup
+[5.232s] [ext: isaacsim.app.about-2.3.2] startup
+[5.238s] [ext: isaacsim.asset.transformer-6.1.0] startup
+[5.243s] [ext: omni.scene.optimizer.core-110.2.1] startup
+[5.334s] [ext: isaacsim.asset.importer.utils-1.9.1] startup
+[5.339s] [ext: omni.convexdecomposition-110.3.2] startup
+[5.342s] [ext: omni.physics-110.3.2] startup
+[5.347s] [ext: omni.physx.gpu-110.3.2] startup
+[5.347s] [ext: omni.physx.foundation-110.3.2] startup
+[5.350s] [ext: omni.usdphysics-110.3.2] startup
+[5.352s] [ext: omni.physx.cooking-110.3.2] startup
+[5.356s] [ext: omni.physx-110.3.2] startup
+[5.378s] [ext: omni.physics.physx-110.3.2] startup
+[5.381s] [ext: isaacsim.asset.exporter.urdf-2.2.6] startup
+[5.394s] [ext: omni.kit.clipboard-1.1.1] startup
+[5.395s] [ext: omni.kit.usd.layers-2.7.2] startup
+[5.406s] [ext: omni.kit.widget.context_menu-1.5.0] startup
+[5.409s] [ext: omni.kit.context_menu-1.10.0] startup
+[5.411s] [ext: omni.kit.helper.file_utils-0.1.10] startup
+[5.413s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
+[5.414s] [ext: omni.kit.search_core-1.0.8] startup
+[5.415s] [ext: omni.kit.widget.path_field-2.0.13] startup
+[5.416s] [ext: omni.kit.widget.browser_bar-2.0.11] startup
+[5.417s] [ext: omni.kit.widget.filebrowser-2.14.0] startup
+[5.424s] [ext: omni.kit.widget.nucleus_connector-2.4.0] startup
+[5.424s] [ext: omni.kit.widget.options_menu-1.1.7] startup
+[5.428s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[5.429s] [ext: omni.kit.widget.search_delegate-1.0.10] startup
+[5.431s] [ext: omni.ui.scene-2.0.4] startup
+[5.437s] [ext: omni.kit.window.filepicker-3.0.14] startup
+[5.460s] [ext: omni.kit.window.file_importer-1.1.22] startup
+[5.462s] [ext: omni.kit.material.library-3.1.7] startup
+[5.469s] [ext: isaacsim.asset.transformer.rules-1.7.18] startup
+[5.486s] [ext: omni.usdex.libs-2.3.0] startup
+[5.498s] [ext: isaacsim.asset.importer.mjcf-3.12.1] startup
+[5.501s] [ext: omni.kit.primitive.mesh-1.1.1] startup
+[5.504s] [ext: omni.kit.stage_template.core-1.1.23] startup
+[5.505s] [ext: omni.kit.stage_templates-2.0.3] startup
+[5.508s] [ext: omni.usd.metrics.assembler-110.1.2] startup
+[5.513s] [ext: omni.warp.core-1.16.0] startup
+[5.763s] [ext: isaacsim.core.experimental.utils-0.23.0] startup
+[5.766s] [ext: isaacsim.asset.importer.urdf-3.11.10] startup
+[5.772s] [ext: omni.physics.stageupdate-110.3.2] startup
+[5.774s] [ext: omni.physics.tensors-110.3.2] startup
+[5.781s] [ext: omni.physx.tensors-110.3.2] startup
+[5.793s] [ext: isaacsim.core.simulation_manager-1.17.1] startup
+[5.811s] [ext: isaacsim.storage.native-1.11.0] startup
+[5.814s] [ext: omni.usd.metrics.assembler.physics-110.3.2] startup
+[5.816s] [ext: isaacsim.core.utils-4.1.9] startup
+[5.820s] [ext: isaacsim.core.prims-0.11.7] startup
+[7.697s] [ext: isaacsim.core.api-5.3.2] startup
+[7.709s] [ext: isaacsim.core.cloner-1.7.5] startup
+[7.711s] [ext: isaacsim.test.docstring-1.3.2] startup
+[7.717s] [ext: isaacsim.core.experimental.prims-1.10.8] startup
+[7.741s] [ext: isaacsim.core.experimental.primdata-0.3.6] startup
+[7.745s] [ext: omni.graph.tools-1.81.0] startup
+[7.777s] [ext: omni.graph-1.142.5] startup
+[7.830s] [ext: isaacsim.core.experimental.actuators-0.1.6] startup
+[7.856s] [ext: isaacsim.core.experimental.materials-0.10.0] startup
+[7.862s] [ext: isaacsim.core.experimental.objects-0.9.0] startup
+[7.968s] [ext: omni.hydra.engine.stats-1.0.5] startup
+[7.972s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[7.974s] [ext: omni.index.libs-392300.961.0] startup
+[7.974s] [ext: omni.index-1.0.1] startup
+[7.975s] [ext: omni.ujitso.client-0.0.0] startup
+[7.976s] [ext: omni.usd.schema.playback-1.1.0] startup
+[7.977s] [ext: omni.volume-0.5.2] startup
+[7.984s] [ext: omni.hydra.rtx-1.0.4] startup
+2026-10-15T16:00:45Z [7,918ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[8.037s] [ext: omni.kit.hydra_texture-1.6.2] startup
+[8.043s] [ext: omni.kit.raycast.query-1.2.0] startup
+[8.050s] [ext: omni.kit.viewport.legacy_gizmos-1.0.24] startup
+[8.054s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[8.055s] [ext: omni.kit.viewport.scene_camera_model-1.0.7] startup
+[8.062s] [ext: omni.kit.widget.viewport-110.0.0] startup
+[8.068s] [ext: omni.kit.window.drop_support-1.0.8] startup
+[8.069s] [ext: omni.kit.viewport.window-110.0.1] startup
+[8.094s] [ext: omni.kit.viewport.utility-2.1.0] startup
+[8.096s] [ext: isaacsim.core.rendering_manager-0.5.1] startup
+[8.111s] [ext: omni.graph.action_core-1.1.9] startup
+[8.114s] [ext: omni.graph.action_nodes_core-2.11.0] startup
+[8.119s] [ext: omni.graph.action_nodes-2.11.0] startup
+[8.158s] [ext: omni.graph.action-2.10.2] startup
+[8.160s] [ext: omni.graph.image.core-0.6.1] startup
+[8.162s] [ext: omni.graph.image.nodes-1.3.2] startup
+[8.163s] [ext: omni.graph.nodes_core-2.11.0] startup
+[8.172s] [ext: omni.graph.nodes-2.12.0] startup
+[8.181s] [ext: omni.kit.hotkeys.core-1.4.0] startup
+[8.183s] [ext: omni.kit.property.adapter.core-1.1.1] startup
+[8.187s] [ext: omni.kit.property.adapter.usd-1.0.6] startup
+[8.189s] [ext: omni.kit.widget.filter-1.1.8] startup
+[8.191s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[8.193s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[8.195s] [ext: omni.kit.window.file_exporter-1.0.38] startup
+[8.197s] [ext: omni.kit.widget.stage-4.6.5] startup
+[8.211s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[8.212s] [ext: omni.kit.window.file-2.0.15] startup
+[8.219s] [ext: omni.kit.window.content_browser-3.1.12] startup
+[8.236s] [ext: omni.kit.window.property-1.15.2] startup
+[8.266s] [ext: omni.kit.property.usd-4.9.14] startup
+[8.285s] [ext: omni.graph.scriptnode-2.10.2] startup
+[8.302s] [ext: omni.kit.widget.searchable_combobox-1.0.7] startup
+[8.304s] [ext: omni.kit.widget.settings-2.0.1] startup
+[8.308s] [ext: omni.kit.window.preferences-1.8.5] startup
+[8.320s] [ext: omni.kit.viewport.menubar.core-110.0.3] startup
+[8.348s] [ext: omni.syntheticdata-0.6.17] startup
+[8.395s] [ext: omni.replicator.nv-1.1.6] startup
+[8.404s] [ext: omni.videoencoding-0.2.1] startup
+[8.408s] [ext: omni.replicator.core-1.13.36] startup
+2026-10-15T16:00:46Z [8,335ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.4
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:1"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:2"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:3"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:4"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:5"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:6"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:7"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   CUDA peer access:
+     Not supported
+   Kernel cache:
+     /home/myx/.cache/warp/1.16.0
+2026-10-15T16:00:46Z [8,449ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[8.770s] [ext: isaacsim.core.nodes-5.10.13] startup
+[8.834s] [ext: isaacsim.core.throttling-2.3.7] startup
+[8.837s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[8.840s] [ext: omni.graph.visualization.nodes-2.1.4] startup
+[8.871s] [ext: omni.kit.window.extensions-1.5.16] startup
+[8.884s] [ext: isaacsim.gui.components-1.8.9] startup
+[8.895s] [ext: isaacsim.robot.surface_gripper-3.6.3] startup
+[8.918s] [ext: isaacsim.robot.manipulators-3.4.5] startup
+[8.942s] [ext: isaacsim.robot_motion.lula-4.1.4] startup
+[8.953s] [ext: isaacsim.robot_motion.motion_generation-8.2.9] startup
+[8.970s] [ext: isaacsim.cortex.framework-1.0.20] startup
+[8.973s] [ext: isaacsim.cortex.behaviors-2.0.18] startup
+[8.977s] [ext: isaacsim.examples.base-1.3.4] startup
+[8.984s] [ext: omni.kit.widget.zoombar-1.0.7] startup
+[8.986s] [ext: omni.kit.browser.core-2.3.18] startup
+[8.995s] [ext: omni.kit.browser.folder.core-2.0.3] startup
+[9.007s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[9.010s] [ext: omni.kit.window.stage-2.6.1] startup
+[9.017s] [ext: omni.kit.menu.stage-1.2.7] startup
+[9.019s] [ext: omni.kit.usd.collect-3.0.6] startup
+[9.025s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[9.027s] [ext: omni.kit.tool.collect-2.2.19] startup
+[9.032s] [ext: isaacsim.examples.browser-0.3.4] startup
+[9.038s] [ext: omni.kit.search.files-1.0.4] startup
+[9.040s] [ext: omni.kit.widget.calendar-1.0.9] startup
+[9.043s] [ext: omni.kit.widget.extended_searchfield-1.0.31] startup
+[9.061s] [ext: omni.simready.content.browser-0.3.8] startup
+[9.246s] [ext: isaacsim.gui.content_browser-0.5.1] startup
+[9.252s] [ext: omni.kit.selection-0.1.6] startup
+[9.254s] [ext: isaacsim.gui.menu-2.10.12] startup
+[9.273s] [ext: isaacsim.gui.property-1.6.4] startup
+[9.286s] [ext: omni.kit.viewport.actions-110.1.0] startup
+[9.294s] [ext: omni.kit.viewport.menubar.display-110.0.0] startup
+[9.297s] [ext: isaacsim.gui.sensors.icon-2.2.4] startup
+[9.304s] [ext: omni.behavior.scripting.core-110.3.0] startup
+[9.311s] [ext: isaacsim.replicator.behavior-1.6.2] startup
+[9.326s] [ext: isaacsim.replicator.experimental.domain_randomization-1.2.10] startup
+[9.361s] [ext: isaacsim.replicator.domain_randomization-1.2.3] startup
+[9.480s] [ext: isaacsim.replicator.writers-1.5.6] startup
+[9.533s] [ext: isaacsim.robot.experimental.wheeled_robots-0.2.14] startup
+[9.575s] [ext: isaacsim.robot_motion.experimental.motion_generation-7.1.2] startup
+[9.594s] [ext: isaacsim.robot.policy.examples-7.2.0] startup
+[11.052s] [ext: isaacsim.robot.wheeled_robots-5.2.5] startup
+[11.061s] [ext: isaacsim.robot.wheeled_robots.nodes-0.1.12] startup
+[11.105s] [ext: isaacsim.robot_motion.controllers-0.3.2] startup
+[11.124s] [ext: isaacsim.robot_motion.cumotion-1.4.0] startup
+[11.146s] [ext: omni.kit.numpy.common-0.1.3] startup
+[11.148s] [ext: omni.rtx.spg-0.4.0] startup
+[11.158s] [ext: omni.sensors.nv.camera-1.0.0] startup
+[11.170s] [ext: isaacsim.sensors.camera-1.7.13] startup
+[11.212s] [ext: isaacsim.sensors.experimental.physics-3.3.0] startup
+[11.229s] [ext: omni.sensors.net-1.0.1] startup
+[11.234s] [ext: omni.sensors.nv.common-3.0.0] startup
+[11.255s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[11.261s] [ext: omni.sensors.nv.acoustic-3.0.0] startup
+[11.267s] [ext: omni.sensors.nv.ids-2.0.1] startup
+[11.270s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[11.277s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[11.283s] [ext: isaacsim.sensors.experimental.rtx-1.9.0] startup
+[11.649s] [ext: isaacsim.sensors.physics.nodes-1.6.2] startup
+[11.662s] [ext: isaacsim.util.debug_draw-3.2.6] startup
+[11.673s] [ext: isaacsim.sensors.physx-2.5.7] startup
+[11.688s] [ext: isaacsim.sensors.rtx-15.17.5] startup
+[11.710s] [ext: isaacsim.simulation_app-2.19.0] startup
+[11.711s] [ext: omni.anim.curve.core-1.6.1] startup
+[11.729s] [ext: omni.graph.ui_nodes-2.11.1] startup
+[11.792s] [ext: omni.kit.manipulator.camera-110.1.0] startup
+[11.800s] [ext: omni.kit.manipulator.selector-1.1.4] startup
+[11.803s] [ext: omni.kit.manipulator.transform-107.0.1] startup
+[11.812s] [ext: omni.kit.widget.toolbar-2.1.0] startup
+[11.826s] [ext: omni.kit.manipulator.tool.snap-1.5.15] startup
+[11.836s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[11.840s] [ext: omni.kit.manipulator.prim.core-108.0.2] startup
+[11.852s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[11.855s] [ext: omni.kit.manipulator.prim-108.0.0] startup
+[11.855s] [ext: omni.kit.manipulator.selection-110.0.0] startup
+[11.858s] [ext: omni.kit.menu.create-2.0.2] startup
+[11.863s] [ext: omni.kit.property.audio-1.0.18] startup
+[11.870s] [ext: omni.kit.property.camera-1.0.14] startup
+[11.873s] [ext: omni.kit.property.geometry-2.1.2] startup
+[11.879s] [ext: omni.kit.property.light-1.0.16] startup
+[11.955s] [ext: omni.kit.property.material-1.14.10] startup
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+[11.974s] [ext: omni.kit.property.transform-1.6.12] startup
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+[12.017s] [ext: omni.kit.viewport.menubar.lighting-107.3.2] startup
+[12.023s] [ext: omni.kit.viewport.menubar.render-110.1.1] startup
+[12.028s] [ext: omni.kit.viewport.menubar.settings-110.0.1] startup
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+[12.060s] [ext: omni.replicator.replicator_yaml-2.0.12] startup
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+[12.123s] [ext: isaacsim.exp.base.python-6.1.0] startup
+[12.129s] Simulation App Starting
+[14.504s] Simulation App Startup Complete
+[14.513s] app ready
+[15.143s] [ext: omni.physx.fabric-110.3.2] startup
+ACTIVITY_RESULT {"mode": "kinematic", "suppress_readback": true, "groups": [[0, 1], [2]], "names": ["a", "b", "mover"], "freeze_entry_error_m": 0.0, "freeze_drift_m": 0.0, "view_valid_frozen": true, "near_released": true, "release_entry_error_m": 0.0, "release_velocity_error": 0.0, "released_gravity_displacement_m": 0.22140634059906006, "joint_transverse_anchor_error_m": 0.0, "protected_released": true, "drive_released": true, "moving_neighbour_released": true, "contact_support_height_m": -0.6717160940170288, "contact_frozen_drift_m": 0.0, "collision_enabled": true, "release_all_dynamic": true, "view_valid_released": true, "statistics": {"rigid_sleep_transitions": 0, "rigid_wake_transitions": 10, "rigid_freeze_transitions": 10, "rigid_sleep_failures": 0, "soft_freeze_transitions": 0, "soft_wake_transitions": 0, "wake_radius_m": 2.5, "sleep_radius_m": 3.0, "rigid_mode": "kinematic", "eligible_rigid_bodies": 3, "eligible_soft_bodies": 0, "joint_groups": 1, "sleeping_rigid_count": 0, "frozen_rigid_count": 0, "frozen_soft": []}, "passed": false}
+[17.755s] Simulation App Shutting Down

assets/scenes/kujiale_0004_multitask/reports/pytest_final.log

@@ -0,0 +1,6 @@
+........................................................................ [ 23%]
+........................................................................ [ 46%]
+........................................................................ [ 69%]
+........................................................................ [ 92%]
+........................                                                 [100%]
+312 passed in 8.26s

assets/scenes/kujiale_0004_multitask/reports/results_summary.json

@@ -0,0 +1,863 @@
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+      }
+    }
+  },
+  "asset_acceptance": {
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+    "passed_assets": 14,
+    "checks_per_asset": 10,
+    "simulation_seconds": 17,
+    "physics_steps": 2040,
+    "inversion_sample_steps": 12,
+    "reset_max_error_m": 0.0,
+    "grasp_acceptance": false
+  },
+  "performance": {
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+    "measured_steps": 240,
+    "measurement": "physics only, CUDA synchronized, no robot or rendering; radius controller not enabled",
+    "execution": "sequential on one GPU, no other GPU validation jobs",
+    "manifest_sha256": "94a099b95a507e1cd7ea26a45d272b620e6b233e76e6a0d97df28911c1fff3bf",
+    "cases": {
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+        "scene_sha256": "45167cbf02c4d99d9e1f080a992a315ab146b0e043907c7906983c35a9438e67",
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+          "deformables": 14
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+        "physics_step_ms": {
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+        "report": "benchmark_source.json"
+      },
+      "all_low": {
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+        "scene_sha256": "9ccd1a080a162becf99f099e1087ca4538653e449f4013319711dcfda25c13e4",
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+        "maximum_inverted_tets": {
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+        "median_speedup": 1.0911471542239006,
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+      "pillow_transfer": {
+        "scene": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/profiles/pillow_transfer.usda",
+        "scene_sha256": "35dde08adebd2c0e9ffa2bf4b1d50bdab3aae5d390d0ae0e77022bc8033f4b09",
+        "gpu_name": "NVIDIA GeForce RTX 4090",
+        "counts": {
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+          "rigid_bodies": 56,
+          "deformables": 4
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+          "pillow_0011": 32
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+        "report": "benchmark_pillow_transfer.json",
+        "median_speedup": 4.11278370031189,
+        "mean_speedup": 4.068587179652719
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+      "kitchen": {
+        "scene": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/profiles/kitchen.usda",
+        "scene_sha256": "72c03c75e60c1282305e508816f2dfb75d2e0ae23ea7aa22cc695f4010fd7c7e",
+        "gpu_name": "NVIDIA GeForce RTX 4090",
+        "counts": {
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+          "rigid_bodies": 95,
+          "deformables": 0
+        },
+        "physics_step_ms": {
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+        "all_finite": true,
+        "initial_inverted_tets": {},
+        "maximum_inverted_tets": {},
+        "deformable_iterations": {},
+        "report": "benchmark_kitchen.json",
+        "median_speedup": 7.334791902763556,
+        "mean_speedup": 7.051360571323028
+      },
+      "bedroom": {
+        "scene": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/profiles/bedroom.usda",
+        "scene_sha256": "d1ea8441c28855de2164ad494dc9567ea4169eae9ed0a04c14248b8a941537e1",
+        "gpu_name": "NVIDIA GeForce RTX 4090",
+        "counts": {
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+          "rigid_bodies": 36,
+          "deformables": 4
+        },
+        "physics_step_ms": {
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+        "all_finite": true,
+        "initial_inverted_tets": {
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+          "pillow_0003": 0
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+        "maximum_inverted_tets": {
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+          "pillow_0001": 0,
+          "pillow_0002": 0,
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+        "deformable_iterations": {
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+        "report": "benchmark_bedroom.json",
+        "median_speedup": 2.4751794601386674,
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+      }
+    },
+    "status": "pass",
+    "completed_at_utc": "2026-10-15T16:34:28.667770+00:00"
+  },
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+      "deformable.simulation_nodal_kinematic_targets": 0.0
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+    "cross_run_cache_hit": true
+  },
+  "activity": {
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+    "frozen_nodes_max_error_m": 0.0,
+    "frozen_names": [
+      "pillow_0008",
+      "pillow_0009",
+      "pillow_0010"
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+    "frozen_rigid_count": 28,
+    "rigid_max_pose_drift": 0.0,
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+      "rigid_wake_transitions": 20,
+      "rigid_freeze_transitions": 32,
+      "rigid_sleep_failures": 0,
+      "soft_freeze_transitions": 3,
+      "soft_wake_transitions": 3,
+      "wake_radius_m": 2.5,
+      "sleep_radius_m": 3.0,
+      "rigid_mode": "kinematic",
+      "rigid_pose_transport": "transforms",
+      "eligible_rigid_bodies": 42,
+      "eligible_soft_bodies": 4,
+      "joint_groups": 3,
+      "sleeping_rigid_count": 0,
+      "frozen_rigid_count": 12,
+      "frozen_soft": []
+    }
+  },
+  "geometry_queries": {
+    "grasp_candidates": 264,
+    "grasp_aabb_rejected": 264,
+    "grasp_narrow_phase": 0
+  },
+  "optimized_control_step_ms": {
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+    "mean": 300.5217137329358,
+    "p95": 315.2120504557388
+  },
+  "validation": {
+    "unit_tests_passed": 312,
+    "unit_test_seconds": 8.26,
+    "environment_checks": {
+      "warm_cache_hit": true,
+      "cache_nodes_within_15mm_after_contact_rebuild": true,
+      "segmentation_detached": true,
+      "complete_snapshot_roundtrip": true,
+      "far_rigid_frozen": true,
+      "rigid_freeze_no_entry_jump": true,
+      "frozen_rigid_flags": true,
+      "frozen_rigid_ccd_disabled": true,
+      "near_rigid_dynamic": true,
+      "protected_rigid_dynamic": true,
+      "far_soft_nodes_frozen": true,
+      "near_soft_nodes_dynamic": true,
+      "physics_view_valid_after_transitions": true,
+      "third_reset_cache_hit": true,
+      "third_reset_all_dynamic_bodies_rebound": true,
+      "third_reset_no_kinematic_leak": true,
+      "third_reset_ccd_restored": true,
+      "third_reset_segmentation_detached": true,
+      "candidate_aabb_rejections_observed": true
+    },
+    "engine_error_log_counts": {
+      "benchmark_source.log": 0,
+      "benchmark_all_low.log": 0,
+      "benchmark_pillow_transfer.log": 0,
+      "benchmark_kitchen.log": 0,
+      "benchmark_bedroom.log": 0,
+      "environment_acceptance_final.log": 0,
+      "cli_inspect_final.log": 0,
+      "probe_radius_runtime_ccd.log": 0,
+      "pillow_validation_final_assets.log": 0
+    },
+    "reports": [
+      "usd_composition_final.json",
+      "physics_composition_binding.json",
+      "pillow_validation_final_assets.json",
+      "physics_comparison.json",
+      "environment_acceptance_final.json",
+      "probe_radius_runtime_ccd.json",
+      "cli_inspect_final/result.json",
+      "pytest_final.log"
+    ]
+  },
+  "implementation_sha256": {
+    "core/environment.py": "8449cdeee7bcd566f0ed000a73ae7d177c035630f9d65d3d767e629bc7f06c61",
+    "core/deformable.py": "7a98f72190c8abcdb4da1a100fcda285fd04eee60fe0d326083954c96ec1ee8f",
+    "run.py": "058c0f20e971edaee18ea2fe374576fa53c2a7965f3f6cdbf2c806728bc2a0d4",
+    "core/scene_efficiency/__init__.py": "656dcdcd6e116a1a1c66357d252b59867452f9bef714cec809c2c0e5f6b77aa1",
+    "core/scene_efficiency/cache.py": "af339fda7419594aab7853cc42ee41d7ab731d08a501a3f96c1e0496652c2dbc",
+    "core/scene_efficiency/policy.py": "7841659444685adaa0f853ae823846f8ecec8a173768b39b30c4af12f192cfd8",
+    "core/scene_efficiency/runtime.py": "f284dc44eb9f4a6385619a50ff00898d61cb83ed5d6b3e265ccd38947823857f",
+    "core/scene_efficiency/stages.py": "91ac4c3fa3ece1305970879ae7babc06c67dabdfe717a706e462d120fd852bd3",
+    "scripts/build_multitask_scene.py": "491dc3668773be9c754c584939457a50a82782339bcf867eb7428fc9a4e5cf0c",
+    "scripts/validate_scene_efficiency.py": "3cb4dccd73e022a54002f535e0949e9a49811b1b04a3c43719f7705df9577dfe",
+    "scripts/validate_scene_efficiency_assets.py": "d6718ab57270294196b46cdec86390c50c2fa7093cc51205d8bfdd78763c4f6a",
+    "tests/test_scene_efficiency.py": "67e63b2f99fb6374e10521612082dcacf48b9958d2b7047efd7a578b537f430a"
+  },
+  "limitations": [
+    "Performance comparison measures synchronized physics steps without robot, rendering or radius control. The separate integration metric times env.step(None) plus env.state(), excluding image capture and model inference; it has no matched source baseline.",
+    "Five large pillows also change Youngs modulus and contact/rest offsets; material response is not assumed identical to the source.",
+    "Distance transitions are instrumented by moving the policy centre while the physical robot remains at spawn; no navigation episode is claimed.",
+    "The original and optimized default grasp recipes both fail the pre-grasp IK threshold; no complete grasp or transfer success is claimed.",
+    "Validation targets Isaac Sim 6.1 / PhysX 110.3.2 on RTX 4090 GPUs."
+  ],
+  "collaboration": {
+    "astra_worker": "Implemented and isolated-tested GPU rigid freeze/wake and CCD compatibility; primary agent integrated and ran final acceptance.",
+    "read_only_and_expert_agents": "Unavailable with service 503; primary agent completed those investigations."
+  }
+}

assets/scenes/kujiale_0004_multitask/reports/usd_composition.json

@@ -0,0 +1,190 @@
+{
+  "mode": "usd",
+  "rooms": {
+    "balcony_764413": {
+      "fast": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 1,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "balcony_792635": {
+      "fast": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 10,
+        "rigid": 4,
+        "soft": 0,
+        "enabled_joints": 3
+      }
+    },
+    "bathroom_763004": {
+      "fast": {
+        "objects": 19,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 19,
+        "rigid": 7,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "bathroom_765775": {
+      "fast": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "bedroom_765353": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
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+        "rigid": 1,
+        "soft": 2,
+        "enabled_joints": 0
+      }
+    },
+    "bedroom_778247": {
+      "fast": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 22,
+        "rigid": 5,
+        "soft": 4,
+        "enabled_joints": 0
+      }
+    },
+    "diningroom_785051": {
+      "fast": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
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+        "rigid": 23,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "kitchen_768297": {
+      "fast": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 50,
+        "rigid": 64,
+        "soft": 0,
+        "enabled_joints": 19
+      }
+    },
+    "livingroom_763001": {
+      "fast": {
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+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 41,
+        "rigid": 20,
+        "soft": 4,
+        "enabled_joints": 0
+      }
+    },
+    "shared": {
+      "fast": {
+        "objects": 102,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 102,
+        "rigid": 31,
+        "soft": 0,
+        "enabled_joints": 18
+      }
+    },
+    "studyroom_763003": {
+      "fast": {
+        "objects": 29,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 29,
+        "rigid": 35,
+        "soft": 4,
+        "enabled_joints": 21
+      }
+    },
+    "unknown_783683": {
+      "fast": {
+        "objects": 35,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 35,
+        "rigid": 8,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "unknown_786425": {
+      "fast": {
+        "objects": 1,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 1,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    }
+  },
+  "source_unchanged": true,
+  "objects": 367,
+  "status": "pass"
+}

assets/scenes/kujiale_0004_multitask/reports/usd_composition_final.json

@@ -0,0 +1,305 @@
+{
+  "mode": "usd",
+  "rooms": {
+    "balcony_764413": {
+      "fast": {
+        "objects": 1,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 1,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "balcony_792635": {
+      "fast": {
+        "objects": 10,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 10,
+        "rigid": 4,
+        "soft": 0,
+        "enabled_joints": 3
+      }
+    },
+    "bathroom_763004": {
+      "fast": {
+        "objects": 19,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 19,
+        "rigid": 7,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "bathroom_765775": {
+      "fast": {
+        "objects": 8,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 8,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "bedroom_765353": {
+      "fast": {
+        "objects": 17,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 17,
+        "rigid": 1,
+        "soft": 2,
+        "enabled_joints": 0
+      }
+    },
+    "bedroom_778247": {
+      "fast": {
+        "objects": 22,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 22,
+        "rigid": 5,
+        "soft": 4,
+        "enabled_joints": 0
+      }
+    },
+    "diningroom_785051": {
+      "fast": {
+        "objects": 32,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 32,
+        "rigid": 23,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "kitchen_768297": {
+      "fast": {
+        "objects": 50,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 50,
+        "rigid": 64,
+        "soft": 0,
+        "enabled_joints": 19
+      }
+    },
+    "livingroom_763001": {
+      "fast": {
+        "objects": 41,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 41,
+        "rigid": 20,
+        "soft": 4,
+        "enabled_joints": 0
+      }
+    },
+    "shared": {
+      "fast": {
+        "objects": 102,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 102,
+        "rigid": 31,
+        "soft": 0,
+        "enabled_joints": 18
+      }
+    },
+    "studyroom_763003": {
+      "fast": {
+        "objects": 29,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 29,
+        "rigid": 35,
+        "soft": 4,
+        "enabled_joints": 21
+      }
+    },
+    "unknown_783683": {
+      "fast": {
+        "objects": 35,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 35,
+        "rigid": 8,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    },
+    "unknown_786425": {
+      "fast": {
+        "objects": 1,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      },
+      "low": {
+        "objects": 1,
+        "rigid": 0,
+        "soft": 0,
+        "enabled_joints": 0
+      }
+    }
+  },
+  "profiles": {
+    "bedroom": {
+      "scene_sha256": "d1ea8441c28855de2164ad494dc9567ea4169eae9ed0a04c14248b8a941537e1",
+      "scope_sha256": "fd06e70ed4180c21be79356219b5eaa9e845be9899dec64d5bc69477bfad2a9d",
+      "low_rooms": [
+        "bedroom_778247",
+        "shared"
+      ],
+      "active_deformables": [
+        "pillow_0000",
+        "pillow_0001",
+        "pillow_0002",
+        "pillow_0003"
+      ],
+      "static_deformables": [
+        "pillow_0004",
+        "pillow_0005",
+        "pillow_0006",
+        "pillow_0007",
+        "pillow_0008",
+        "pillow_0009",
+        "pillow_0010",
+        "pillow_0011",
+        "throw_pillow_0000",
+        "throw_pillow_0001"
+      ],
+      "iterations": {
+        "pillow_0000": 96,
+        "pillow_0001": 96,
+        "pillow_0002": 96,
+        "pillow_0003": 32
+      },
+      "rigid_bodies": 36
+    },
+    "kitchen": {
+      "scene_sha256": "72c03c75e60c1282305e508816f2dfb75d2e0ae23ea7aa22cc695f4010fd7c7e",
+      "scope_sha256": "35b80bd939d897702bfd8b657b6f922a8f6fcfb61c3882212a4c2b8876a94285",
+      "low_rooms": [
+        "kitchen_768297",
+        "shared"
+      ],
+      "active_deformables": [],
+      "static_deformables": [
+        "pillow_0000",
+        "pillow_0001",
+        "pillow_0002",
+        "pillow_0003",
+        "pillow_0004",
+        "pillow_0005",
+        "pillow_0006",
+        "pillow_0007",
+        "pillow_0008",
+        "pillow_0009",
+        "pillow_0010",
+        "pillow_0011",
+        "throw_pillow_0000",
+        "throw_pillow_0001"
+      ],
+      "iterations": {},
+      "rigid_bodies": 95
+    },
+    "pillow_transfer": {
+      "scene_sha256": "35dde08adebd2c0e9ffa2bf4b1d50bdab3aae5d390d0ae0e77022bc8033f4b09",
+      "scope_sha256": "90767c83193c87921dec827ef23fcc7f1bcbe48a463c51d3ba7d5f7032268343",
+      "low_rooms": [
+        "bedroom_778247",
+        "livingroom_763001",
+        "shared"
+      ],
+      "active_deformables": [
+        "pillow_0008",
+        "pillow_0009",
+        "pillow_0010",
+        "pillow_0011"
+      ],
+      "static_deformables": [
+        "pillow_0000",
+        "pillow_0001",
+        "pillow_0002",
+        "pillow_0003",
+        "pillow_0004",
+        "pillow_0005",
+        "pillow_0006",
+        "pillow_0007",
+        "throw_pillow_0000",
+        "throw_pillow_0001"
+      ],
+      "iterations": {
+        "pillow_0008": 32,
+        "pillow_0009": 32,
+        "pillow_0010": 32,
+        "pillow_0011": 32
+      },
+      "rigid_bodies": 56
+    }
+  },
+  "source_unchanged": true,
+  "generated_hashes_match": true,
+  "objects": 367,
+  "validated_asset_hashes_match": true,
+  "validated_deformables": 14,
+  "source_scene_iterations": {
+    "pillow_0000": 255,
+    "pillow_0001": 255,
+    "pillow_0002": 128,
+    "pillow_0003": 128,
+    "pillow_0004": 255,
+    "pillow_0005": 192,
+    "pillow_0006": 128,
+    "pillow_0007": 128,
+    "pillow_0008": 128,
+    "pillow_0009": 128,
+    "pillow_0010": 128,
+    "pillow_0011": 128,
+    "throw_pillow_0000": 255,
+    "throw_pillow_0001": 255
+  },
+  "status": "pass"
+}

assets/scenes/kujiale_0004_multitask/reports/usd_composition_final.log

@@ -0,0 +1 @@
+{"report": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/usd_composition_final.json", "status": "pass"}

assets/scenes/kujiale_0004_multitask/reports/wide_doors/README.md

@@ -0,0 +1,103 @@
+# 固定基础场景门洞验收
+
+交付版本：`multitask_v2_wide_doors`，入口为 [`../../scene.usda`](../../scene.usda)。
+全部 8 扇门离线扩宽后直接保存到房间 USD，后续任务从同一 manifest 组合场景。
+枕头任务默认使用 `kujiale_0004_multitask`；任务摆放、抓取、IK 和 scope 配置沿用现有设置。
+
+最终状态与全部通过报告的 SHA-256 索引见 [`results_summary.json`](results_summary.json)。
+
+## 净宽与开门状态
+
+设计全开净宽为 1.01 m。以下结果来自实际 GPU PhysX 开门后的 cooked 碰撞形状和刚体实测位姿，
+包含门框完整厚度及前后各 1 cm、高度 0.03–2.00 m 范围内的全部启用场景碰撞。
+采用连续三角形裁剪，并检查整段净空未包含封闭实体，验收下限为 1.00 m。
+
+| 门 | 原离线门几何净宽 / m | 当前物理净宽 / m | 验收时开门状态 |
+| --- | ---: | ---: | --- |
+| `door_0000` | 0.679607 | 1.010000 | +95°，向西开 |
+| `door_0001` | 0.899607 | 1.010000 | 两扇均 −95° |
+| `door_0002` | 0.679607 | 1.010000 | −95° |
+| `door_0003` | 0.651937 | 1.010000 | +95° |
+| `door_0004` | 0.679607 | 1.010000 | −95° |
+| `door_0005` | 0.737149 | 1.005257 | 左/中扇 0，右扇约 −1.006015 m |
+| `door_0006` | 0.651936 | 1.010000 | +95°，向走廊开 |
+| `door_0007` | 0.651936 | 1.010000 | +95° |
+
+表中原值是原门扇全开时的离线几何结果，不是原场景的物理复测。
+[前后俯视图](opening_comparison.png)显示门洞与附近建筑结构的变化。
+精确数值见 [sweeps 报告](runtime_candidate_v6_sweeps.json) 的 `cooked_native_widths`。
+GPU direct 模式下原生 overlap 查询仍返回初始关闭位姿，报告保留该诊断；最终净宽使用上述 cooked 形状与实测 GPU 位姿计算。
+
+## 固化的资产改动
+
+- 同步门框、门扇、把手、墙洞、门槛、视觉网格和碰撞代理；保持 prim 路径和对象根坐标系。
+- 平开门止挡为 ±95°，保留关闭端点。门扇上下各收口 6 mm，解除原门槛嵌入；同步两端铰链位置、质量、重心和惯性张量。
+- 门 0 改向西开，门 6 改向走廊开；门 6 整套向 +X 平移 6 cm，局部墙洞同向平移，两端各 8 cm 过渡，衣柜保持原位置。
+- `wall_0037` 南移 4 cm；`wall_0027` 内角退让 8.5 cm；`wall_0031` 南面局部退让 17.2 cm，并同步邻接结构；`wall_0042` 内侧局部退让 12.5 cm。
+- 门 0、门 2 对应局部过梁升至 2.145 m；`wall_light_0000` 沿同一面墙平移 `[+0.70, −0.04, 0]` m，避开门 6 扫掠。
+- 12 个细长凸包精确切成 48 个凸分片，完整并集替代原碰撞。原父网格保留用于审计，并移除碰撞 schema，防止重复解析。
+
+共修改 28 个对象，涉及 `shared` 与 `unknown_786425` 的 low/fast 四层。
+[离线预检](geometry_preflight.json)确认两套几何指纹一致、5,215 个网格属性有效，
+12 组分片体积与边界完整。编辑细节、最终边界、几何指纹及候选到正式层的字节一致性记录见
+[`edit_report.json`](edit_report.json)，其 SHA-256 由最终 manifest 绑定。
+
+原来源 371 个依赖文件及 14 个柔体文件的 SHA-256 保持不变。
+一次性加工记录位于 `/mnt/38_store/myx/RoboBench/work/wide_doors_20261016/`，没有加入产品的门洞调整模块或运行时开关。
+
+## 物理与机器人通行验收
+
+Isaac Sim 6.1、GPU PhysX、120 Hz。独立 `astra_worker` 执行并复核：
+
+- [机构验收](runtime_candidate_v6_mechanisms.json)：11 个关节的 66 项初始关闭、开启、关闭、上下止挡及最终关闭检查全部通过。
+- [全身扫掠](runtime_candidate_v6_sweeps.json)：8 门双向全部通过，覆盖 G2 默认收臂姿态的 49 个视觉 link 凸包，几何净空 20 mm。
+- [真实轮驱动](runtime_candidate_v6_passages.json)：门 3、门 5 双向共 4 段全部通过，只在各门首个起点初始化位姿，随后由真实车轮驱动往返。
+- [独立复核](runtime_candidate_v6_review.json)：34 项检查通过，三次验证使用同一脚本、同一冻结资产；物理验收日志无 Error 或 CPU fallback。
+
+门 0 的扫掠路线相对净空中心偏移 −5 cm。通过门 4 前真实关闭门 3；通过门 7 前真实关闭门 1，
+完成后真实重开，保留相邻门全部碰撞。门 5 采用朝南姿态通行。
+
+四段真实通行位移为 1.37574–1.38102 m，终点误差为 4.67–4.90 mm，
+结束时全身距门框至少 35.13 mm；最大倾斜为 1.252° 以内，无机身碰撞或失稳。
+每个 120 Hz 物理步检查全身净空，轨迹按 20 Hz 保存。
+
+验收中的非门对象暂时静态隔离，保留家具、墙体及柔体静态代理碰撞；该结果不代替全屋动态稳定性或完整任务成功验收。
+G2 原生机身碰撞不完整，因此另外检查全部视觉 link 的凸包。
+地面、地毯视为支承；门槛及经几何确认的水平地面片仅对轮系作为支承，上身仍参与碰撞检查。
+仅门 3���门 5 执行了真实轮驱动，其他门证明固定收臂姿态下双向扫掠可通过。
+本次未执行完整枕头抓取/搬运任务，也没有改变其 IK 或成功阈值。
+
+## 正式资产与历史结果
+
+[`runtime_delivery_identity.json`](runtime_delivery_identity.json) 的 9 项独立核对全部通过：
+正式四层与验收候选逐字节一致；排除入口审计元数据后完整 USD Flatten 一致；
+396 层依赖路径映射和 SHA 一致；正式场景及 3 份 profiles 均无组合错误，也不引用候选工作目录。
+
+[`usd_final.json`](usd_final.json) 已通过正式资产审计：367 个对象、13 组房间、3 份任务组合，
+包含源/生成文件指纹、low/fast 几何、碰撞覆盖、固定改动记录和 14 个柔体验收指纹。
+[`project_tests.log`](project_tests.log) 记录本轮项目测试：312 passed。
+上级 `reports/results_summary.json` 中的性能及柔体实验属于 `multitask_v1` 历史结果；本次没有将其当作新版本性能复测。
+
+最终候选为 `candidate_v6`。旧候选与失败探索仅用于追溯，不作为本版本通过证据。
+
+## 默认环境验证
+
+[`environment_final.json`](environment_final.json) 的 19 项检查全部通过。GPU 3、默认全部房间 low、
+14 个动态柔体，缓存和 2.5/3.0 m 距离策略开启，执行 30 个控制步。
+检查覆盖快照完整恢复、远近切换、冻结与恢复、分割解绑、连续 reset、CCD 恢复及临时运动学标志清理。
+采样状态均为有限值，未发现翻转四面体。
+
+本次首次 reset 为 146.36 s，缓存命中后为 9.53 s，第三次为 9.14 s；
+缓存恢复并重建接触后，柔体节点最大差异为 1.50 mm，小于 15 mm 验收阈值。
+这些是本机默认全场景的集成检查结果，没有配对的原场景性能基线。
+
+验证入口使用一次性 `run_without_debug_breakpoint.py` 临时跳过 `pdb.set_trace()`，
+项目 `core/environment.py` 中用户原有断点和源码保持不变。
+环境日志仍保留来源 G2 的 UV 和柔体显示法线提示；本次修改网格的属性检查已单独通过。
+
+[`default_entrypoint.json`](default_entrypoint.json) 的 14 项最终检查全部通过。
+正式 `run.py --mode inspect --gpu 3` 入口没有传入 `--scene` 或 `--scene-scope`，
+从任务 YAML 加载 `multitask_v2_wide_doors`，13 个房间全部 low、14 个柔体参与动态物理，
+并在另一个输出目录命中与环境验收相同的缓存。
+实际结果、配置及单帧检查视频位于 [`default_cli_inspect/`](default_cli_inspect/)。
+最后再次确认任务 YAML 仅改变 scene、原实现指纹与来源/柔体文件不变，且正式 CLI 使用已验收的层文件。

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect.log

@@ -0,0 +1,536 @@
+RUN_DIR=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect
+Starting kit application with the following args:  ['/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps/isaacsim.exp.base.python.kit', '--/app/tokens/exe-path=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/kit', '--/persistent/app/viewport/displayOptions=3094', '--/rtx/materialDb/syncLoads=True', '--/rtx/hydra/materialSyncLoads=True', '--/omni/kit/plugin/syncUsdLoads=True', '--/app/renderer/resolution/width=960', '--/app/renderer/resolution/height=720', '--/app/window/width=1440', '--/app/window/height=900', '--/renderer/multiGpu/enabled=False', '--/app/fastShutdown=True', '--/app/installSignalHandlers=0', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/exts', '--ext-folder', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/apps', '--/log/file=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/isaac.log', '--/app/extensions/registryEnabled=false', '--/app/asyncRendering=false', '--/exts/omni.kit.telemetry/enable=false', '--/crashreporter/enabled=false', '--/crashreporter/skipOldDumpUpload=true', '--/renderer/activeGpu=3', '--/physics/cudaDevice=3', '--/plugins/carb.tasking.plugin/threadCount=16', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=16', '--portable', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  ['--mode', 'inspect', '--gpu', '3', '--run-dir', '/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect']
+2026-10-16T14:21:22Z [Info] [carb] Logging to file: /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/isaac.log
+[0.214s] [ext: omni.assets.plugins-0.0.0] startup
+[0.218s] [ext: omni.blobkey-1.1.2] startup
+[0.218s] [ext: omni.kit.async_engine-0.0.3] startup
+[1.617s] [ext: omni.client.lib-1.1.1] startup
+[1.654s] [ext: omni.client-1.3.0] startup
+[1.666s] [ext: omni.protobuf.lib-1.0.1] startup
+[1.670s] [ext: omni.grpc.lib-1.0.0] startup
+[1.683s] [ext: omni.metrics.core-0.0.3] startup
+[1.684s] [ext: omni.datastore-0.0.0] startup
+WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
+E0000 00:00:1792160484.008782 2676056 descriptor_database.cc:633] File already exists in database: grpc/health/v1/health.proto
+W0000 00:00:1792160484.008848 2676056 message.cc:301] Protobuf GeneratedMessageFactory: File is already registered: grpc/health/v1/health.proto
+[1.688s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[1.694s] [ext: omni.hsscclient-1.1.4] startup
+[1.696s] [ext: omni.stats-1.0.1] startup
+[1.698s] [ext: omni.ujitso.default-1.0.0] startup
+[1.833s] [ext: omni.gpu_foundation-0.0.0] startup
+[2.147s] [ext: carb.windowing.plugins-1.0.1] startup
+[2.150s] [ext: omni.kit.renderer.init-1.0.1] startup
+2026-10-16T14:21:24Z [2,138ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 615.71.09     | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | b1ccc317.. |
+|     |                                  |        |     |            | 35        |            |
+|---------------------------------------------------------------------------------------------|
+| 1   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 5b4776e5.. |
+|     |                                  |        |     |            | 36        |            |
+|---------------------------------------------------------------------------------------------|
+| 2   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | ee47e4bd.. |
+|     |                                  |        |     |            | 39        |            |
+|---------------------------------------------------------------------------------------------|
+| 3   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e2bdf6e1.. |
+|     |                                  |        |     |            | 3d        |            |
+|---------------------------------------------------------------------------------------------|
+| 4   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 4a60c7ee.. |
+|     |                                  |        |     |            | 9c        |            |
+|---------------------------------------------------------------------------------------------|
+| 5   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | 23fb4690.. |
+|     |                                  |        |     |            | 9d        |            |
+|---------------------------------------------------------------------------------------------|
+| 6   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | cec698e7.. |
+|     |                                  |        |     |            | a0        |            |
+|---------------------------------------------------------------------------------------------|
+| 7   | NVIDIA GeForce RTX 4090          |        |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | e80f09d2.. |
+|     |                                  |        |     |            | a4        |            |
+|=============================================================================================|
+| OS: 22.04.3 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.3, Kernel: 5.15.0-198-generic
+| Processor: Intel(R) Xeon(R) Silver 4314 CPU @ 2.40GHz
+| Cores: 32 | Logical Cores: 64
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 257568 | Free Memory: 229968
+| Total Page/Swap (MB): 8191 | Free Page/Swap: 7999
+|---------------------------------------------------------------------------------------------|
+[5.730s] [ext: omni.kit.pipapi-0.0.0] startup
+[5.734s] [ext: omni.kit.telemetry-0.5.2] startup
+[5.805s] [ext: omni.kit.loop-isaac-1.6.2] startup
+[5.816s] [ext: omni.kit.test-2.1.1] startup
+[5.926s] [ext: omni.materialx.libs-1.0.9] startup
+[5.937s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[5.939s] [ext: omni.usd.config-1.0.8] startup
+[5.957s] [ext: omni.usd.libs-1.0.3] startup
+[6.096s] [ext: omni.iray.libs-0.0.1] startup
+[6.102s] [ext: omni.mdl-57.0.6] startup
+[6.197s] [ext: omni.mdl.neuraylib-0.2.22] startup
+[6.202s] [ext: omni.kit.usd.mdl-1.1.11] startup
+[6.357s] [ext: omni.appwindow-1.2.2] startup
+[6.361s] [ext: omni.kit.renderer.core-1.3.1] startup
+2026-10-16T14:21:28Z [6,328ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-16T14:21:28Z [6,328ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[6.410s] [ext: omni.kit.renderer.capture-2.0.1] startup
+[6.415s] [ext: omni.kit.renderer.imgui-2.1.0] startup
+2026-10-16T14:21:28Z [6,359ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-16T14:21:28Z [6,359ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-10-16T14:21:28Z [6,362ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-10-16T14:21:28Z [6,362ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[6.544s] [ext: omni.ui-3.3.1] startup
+[6.562s] [ext: omni.kit.mainwindow-1.0.4] startup
+[6.564s] [ext: carb.audio-0.1.0] startup
+[6.570s] [ext: omni.uiaudio-1.0.0] startup
+[6.572s] [ext: omni.kit.uiapp-0.0.0] startup
+[6.572s] [ext: omni.usd.schema.metrics.assembler-110.1.0] startup
+[6.579s] [ext: omni.usd.schema.audio-0.0.1] startup
+[6.585s] [ext: omni.usd_resolver-1.0.0] startup
+[6.591s] [ext: omni.usd.core-1.10.10] startup
+[6.597s] [ext: omni.metropolis.schema-0.0.3] startup
+[6.599s] [ext: isaacsim.anim.robot.schema-0.1.1] startup
+[6.601s] [ext: isaacsim.common-6.2.0] startup
+[6.603s] [ext: omni.usd.schema.anim-0.0.1] startup
+[6.632s] [ext: omni.usd.schema.geospatial-0.0.1] startup
+[6.636s] [ext: omni.usd.schema.omnigraph-1.0.1] startup
+[6.646s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[6.651s] [ext: omni.activity.core-1.0.4] startup
+[6.653s] [ext: omni.cubric-0.1.0] startup
+[6.653s] [ext: omni.graph.exec-0.9.6] startup
+[6.654s] [ext: omni.hydra.scene_delegate-0.3.5] startup
+[6.660s] [ext: usdrt.scenegraph-7.6.3] startup
+[6.702s] [ext: omni.hydra.usdrt_delegate-7.5.2] startup
+[6.713s] [ext: omni.inspect-1.0.2] startup
+[6.716s] [ext: omni.kit.actions.core-1.2.0] startup
+[6.721s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[6.724s] [ext: omni.kit.commands-1.5.0] startup
+[6.731s] [ext: omni.kit.exec.core-0.13.6] startup
+[6.735s] [ext: omni.kit.usd_undo-0.1.8] startup
+[6.736s] [ext: omni.kit.window.popup_dialog-2.0.26] startup
+[6.742s] [ext: omni.kit.widget.connection_manager-1.0.3] startup
+[6.754s] [ext: omni.timeline-1.1.0] startup
+[6.758s] [ext: omni.usd-1.18.0] startup
+[6.815s] [ext: omni.graph.core-3.1.5] startup
+[6.820s] [ext: omni.kit.notification_manager-1.0.16] startup
+[6.824s] [ext: isaacsim.core.deprecation_manager-0.4.4] startup
+[6.826s] [ext: isaacsim.replicator.agent.schema-0.1.1] startup
+[6.829s] [ext: isaacsim.robot.schema-7.0.2] startup
+[6.839s] [ext: isaacsim.robot_motion.schema-0.2.2] startup
+[6.841s] [ext: omni.anim.behavior.schema-110.3.0] startup
+[6.848s] [ext: omni.anim.graph.schema-110.3.0] startup
+[6.857s] [ext: omni.anim.navigation.schema-110.3.0] startup
+[6.863s] [ext: omni.behavior.tree.schema-110.3.0] startup
+[6.865s] [ext: omni.kit.asset_converter-6.0.5] startup
+2026-10-16T14:21:29Z [6,805ms] [Warning] [asset_converter_native_bindings._bootstrap] A different OpenUSD (pxr) build was already imported from /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.usd.schema.audio-0.0.1+00c488ae.lx64.r.cp312/pxr before usd-convert-asset loaded. The host pxr bindings will remain in use rather than reloading the bundled OpenUSD at /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/lib/python/pxr, /mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/.runtime/isaac61/lib/python3.12/site-packages/isaacsim/extscache/omni.kit.asset_converter-6.0.5+110.1.1.lx64.r.cp312.u7f4/asset_converter_native_bindings/libs/python/pxr. Mixing USD builds in one process can cause ABI and singleton conflicts; prefer importing usd_convert_asset first, or run the converter in a separate process/venv when mixing unrelated USD builds.
+[6.887s] [ext: omni.usd.schema.flow-110.0.0] startup
+[6.888s] [ext: omni.usd.schema.newton-1.4.0] startup
+[6.891s] [ext: omni.usd.schema.mujoco-1.1.4] startup
+[6.893s] [ext: omni.usd.schema.omni_dome_light-1.0.0] startup
+[6.895s] [ext: omni.usd.schema.omni_lens_distortion-1.0.0] startup
+[6.896s] [ext: omni.usd.schema.omni_projectors-1.0.0] startup
+[6.898s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[6.909s] [ext: omni.usd.schema.omniscripting-1.0.1] startup
+[6.916s] [ext: omni.usd.schema.physical_lighting-0.1.0] startup
+[6.922s] [ext: omni.usd.schema.physx-110.3.2] startup
+[6.967s] [ext: omni.usd.schema.render_settings.rtx-1.0.3] startup
+[6.974s] [ext: omni.usd.schema.usd_particle_field-1.0.0] startup
+[6.976s] [ext: isaacsim.core.version-2.2.1] startup
+[6.987s] [ext: omni.kit.menu.core-1.3.0] startup
+[6.989s] [ext: omni.kit.menu.utils-2.2.8] startup
+[7.003s] [ext: isaacsim.app.about-2.3.2] startup
+[7.011s] [ext: isaacsim.asset.transformer-6.1.0] startup
+[7.017s] [ext: omni.scene.optimizer.core-110.2.1] startup
+[7.110s] [ext: isaacsim.asset.importer.utils-1.9.1] startup
+[7.117s] [ext: omni.convexdecomposition-110.3.2] startup
+[7.122s] [ext: omni.physics-110.3.2] startup
+[7.127s] [ext: omni.physx.gpu-110.3.2] startup
+[7.128s] [ext: omni.physx.foundation-110.3.2] startup
+[7.132s] [ext: omni.usdphysics-110.3.2] startup
+[7.136s] [ext: omni.physx.cooking-110.3.2] startup
+[7.141s] [ext: omni.physx-110.3.2] startup
+[7.164s] [ext: omni.physics.physx-110.3.2] startup
+[7.168s] [ext: isaacsim.asset.exporter.urdf-2.2.6] startup
+[7.182s] [ext: omni.kit.clipboard-1.1.1] startup
+[7.185s] [ext: omni.kit.usd.layers-2.7.2] startup
+[7.198s] [ext: omni.kit.widget.context_menu-1.5.0] startup
+[7.202s] [ext: omni.kit.context_menu-1.10.0] startup
+[7.206s] [ext: omni.kit.helper.file_utils-0.1.10] startup
+[7.209s] [ext: omni.kit.widget.nucleus_info-2.0.2] startup
+[7.211s] [ext: omni.kit.search_core-1.0.8] startup
+[7.213s] [ext: omni.kit.widget.path_field-2.0.13] startup
+[7.215s] [ext: omni.kit.widget.browser_bar-2.0.11] startup
+[7.218s] [ext: omni.kit.widget.filebrowser-2.14.0] startup
+[7.228s] [ext: omni.kit.widget.nucleus_connector-2.4.0] startup
+[7.229s] [ext: omni.kit.widget.options_menu-1.1.7] startup
+[7.235s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[7.237s] [ext: omni.kit.widget.search_delegate-1.0.10] startup
+[7.240s] [ext: omni.ui.scene-2.0.4] startup
+[7.247s] [ext: omni.kit.window.filepicker-3.0.14] startup
+[7.277s] [ext: omni.kit.window.file_importer-1.1.22] startup
+[7.280s] [ext: omni.kit.material.library-3.1.7] startup
+[7.290s] [ext: isaacsim.asset.transformer.rules-1.7.18] startup
+[7.311s] [ext: omni.usdex.libs-2.3.0] startup
+[7.324s] [ext: isaacsim.asset.importer.mjcf-3.12.1] startup
+[7.329s] [ext: omni.kit.primitive.mesh-1.1.1] startup
+[7.336s] [ext: omni.kit.stage_template.core-1.1.23] startup
+[7.338s] [ext: omni.kit.stage_templates-2.0.3] startup
+[7.342s] [ext: omni.usd.metrics.assembler-110.1.2] startup
+[7.348s] [ext: omni.warp.core-1.16.0] startup
+[7.605s] [ext: isaacsim.core.experimental.utils-0.23.0] startup
+[7.608s] [ext: isaacsim.asset.importer.urdf-3.11.10] startup
+[7.617s] [ext: omni.physics.stageupdate-110.3.2] startup
+[7.621s] [ext: omni.physics.tensors-110.3.2] startup
+[7.629s] [ext: omni.physx.tensors-110.3.2] startup
+[7.642s] [ext: isaacsim.core.simulation_manager-1.17.1] startup
+[7.665s] [ext: isaacsim.storage.native-1.11.0] startup
+[7.669s] [ext: omni.usd.metrics.assembler.physics-110.3.2] startup
+[7.672s] [ext: isaacsim.core.utils-4.1.9] startup
+[7.678s] [ext: isaacsim.core.prims-0.11.7] startup
+[9.823s] [ext: isaacsim.core.api-5.3.2] startup
+[9.843s] [ext: isaacsim.core.cloner-1.7.5] startup
+[9.847s] [ext: isaacsim.test.docstring-1.3.2] startup
+[9.852s] [ext: isaacsim.core.experimental.prims-1.10.8] startup
+[9.880s] [ext: isaacsim.core.experimental.primdata-0.3.6] startup
+[9.885s] [ext: omni.graph.tools-1.81.0] startup
+[9.938s] [ext: omni.graph-1.142.5] startup
+[10.005s] [ext: isaacsim.core.experimental.actuators-0.1.6] startup
+[10.034s] [ext: isaacsim.core.experimental.materials-0.10.0] startup
+[10.043s] [ext: isaacsim.core.experimental.objects-0.9.0] startup
+[10.169s] [ext: omni.hydra.engine.stats-1.0.5] startup
+[10.175s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[10.178s] [ext: omni.index.libs-392300.961.0] startup
+[10.178s] [ext: omni.index-1.0.1] startup
+[10.180s] [ext: omni.ujitso.client-0.0.0] startup
+[10.180s] [ext: omni.usd.schema.playback-1.1.0] startup
+[10.183s] [ext: omni.volume-0.5.2] startup
+[10.192s] [ext: omni.hydra.rtx-1.0.4] startup
+2026-10-16T14:21:32Z [10,152ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[10.246s] [ext: omni.kit.hydra_texture-1.6.2] startup
+[10.254s] [ext: omni.kit.raycast.query-1.2.0] startup
+[10.263s] [ext: omni.kit.viewport.legacy_gizmos-1.0.24] startup
+[10.269s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[10.272s] [ext: omni.kit.viewport.scene_camera_model-1.0.7] startup
+[10.279s] [ext: omni.kit.widget.viewport-110.0.0] startup
+[10.288s] [ext: omni.kit.window.drop_support-1.0.8] startup
+[10.290s] [ext: omni.kit.viewport.window-110.0.1] startup
+[10.322s] [ext: omni.kit.viewport.utility-2.1.0] startup
+[10.325s] [ext: isaacsim.core.rendering_manager-0.5.1] startup
+[10.343s] [ext: omni.graph.action_core-1.1.9] startup
+[10.347s] [ext: omni.graph.action_nodes_core-2.11.0] startup
+[10.353s] [ext: omni.graph.action_nodes-2.11.0] startup
+[10.393s] [ext: omni.graph.action-2.10.2] startup
+[10.396s] [ext: omni.graph.image.core-0.6.1] startup
+[10.398s] [ext: omni.graph.image.nodes-1.3.2] startup
+[10.400s] [ext: omni.graph.nodes_core-2.11.0] startup
+[10.410s] [ext: omni.graph.nodes-2.12.0] startup
+[10.420s] [ext: omni.kit.hotkeys.core-1.4.0] startup
+[10.423s] [ext: omni.kit.property.adapter.core-1.1.1] startup
+[10.428s] [ext: omni.kit.property.adapter.usd-1.0.6] startup
+[10.433s] [ext: omni.kit.widget.filter-1.1.8] startup
+[10.435s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[10.438s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[10.442s] [ext: omni.kit.window.file_exporter-1.0.38] startup
+[10.445s] [ext: omni.kit.widget.stage-4.6.5] startup
+[10.464s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[10.467s] [ext: omni.kit.window.file-2.0.15] startup
+[10.473s] [ext: omni.kit.window.content_browser-3.1.12] startup
+[10.491s] [ext: omni.kit.window.property-1.15.2] startup
+[10.521s] [ext: omni.kit.property.usd-4.9.14] startup
+[10.542s] [ext: omni.graph.scriptnode-2.10.2] startup
+[10.560s] [ext: omni.kit.widget.searchable_combobox-1.0.7] startup
+[10.563s] [ext: omni.kit.widget.settings-2.0.1] startup
+[10.568s] [ext: omni.kit.window.preferences-1.8.5] startup
+[10.580s] [ext: omni.kit.viewport.menubar.core-110.0.3] startup
+[10.609s] [ext: omni.syntheticdata-0.6.17] startup
+[10.658s] [ext: omni.replicator.nv-1.1.6] startup
+[10.668s] [ext: omni.videoencoding-0.2.1] startup
+[10.673s] [ext: omni.replicator.core-1.13.36] startup
+2026-10-16T14:21:33Z [10,628ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.16.0 initialized:
+   CUDA Toolkit 12.9, Driver 13.4
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:1"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:2"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:3"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:4"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:5"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:6"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+     "cuda:7"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   CUDA peer access:
+     Not supported
+   Kernel cache:
+     /home/myx/.cache/warp/1.16.0
+2026-10-16T14:21:33Z [10,765ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[11.070s] [ext: isaacsim.core.nodes-5.10.13] startup
+[11.132s] [ext: isaacsim.core.throttling-2.3.7] startup
+[11.137s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[11.140s] [ext: omni.graph.visualization.nodes-2.1.4] startup
+[11.170s] [ext: omni.kit.window.extensions-1.5.16] startup
+[11.182s] [ext: isaacsim.gui.components-1.8.9] startup
+[11.193s] [ext: isaacsim.robot.surface_gripper-3.6.3] startup
+[11.216s] [ext: isaacsim.robot.manipulators-3.4.5] startup
+[11.241s] [ext: isaacsim.robot_motion.lula-4.1.4] startup
+[11.253s] [ext: isaacsim.robot_motion.motion_generation-8.2.9] startup
+[11.270s] [ext: isaacsim.cortex.framework-1.0.20] startup
+[11.273s] [ext: isaacsim.cortex.behaviors-2.0.18] startup
+[11.278s] [ext: isaacsim.examples.base-1.3.4] startup
+[11.285s] [ext: omni.kit.widget.zoombar-1.0.7] startup
+[11.287s] [ext: omni.kit.browser.core-2.3.18] startup
+[11.297s] [ext: omni.kit.browser.folder.core-2.0.3] startup
+[11.308s] [ext: omni.kit.widget.stage_icons-1.0.8] startup
+[11.311s] [ext: omni.kit.window.stage-2.6.1] startup
+[11.318s] [ext: omni.kit.menu.stage-1.2.7] startup
+[11.322s] [ext: omni.kit.usd.collect-3.0.6] startup
+[11.327s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[11.330s] [ext: omni.kit.tool.collect-2.2.19] startup
+[11.335s] [ext: isaacsim.examples.browser-0.3.4] startup
+[11.341s] [ext: omni.kit.search.files-1.0.4] startup
+[11.344s] [ext: omni.kit.widget.calendar-1.0.9] startup
+[11.348s] [ext: omni.kit.widget.extended_searchfield-1.0.31] startup
+[11.366s] [ext: omni.simready.content.browser-0.3.8] startup
+[11.549s] [ext: isaacsim.gui.content_browser-0.5.1] startup
+[11.557s] [ext: omni.kit.selection-0.1.6] startup
+[11.560s] [ext: isaacsim.gui.menu-2.10.12] startup
+[11.578s] [ext: isaacsim.gui.property-1.6.4] startup
+[11.592s] [ext: omni.kit.viewport.actions-110.1.0] startup
+[11.600s] [ext: omni.kit.viewport.menubar.display-110.0.0] startup
+[11.604s] [ext: isaacsim.gui.sensors.icon-2.2.4] startup
+[11.612s] [ext: omni.behavior.scripting.core-110.3.0] startup
+[11.619s] [ext: isaacsim.replicator.behavior-1.6.2] startup
+[11.633s] [ext: isaacsim.replicator.experimental.domain_randomization-1.2.10] startup
+[11.668s] [ext: isaacsim.replicator.domain_randomization-1.2.3] startup
+[11.788s] [ext: isaacsim.replicator.writers-1.5.6] startup
+[11.844s] [ext: isaacsim.robot.experimental.wheeled_robots-0.2.14] startup
+[11.889s] [ext: isaacsim.robot_motion.experimental.motion_generation-7.1.2] startup
+[11.910s] [ext: isaacsim.robot.policy.examples-7.2.0] startup
+[17.057s] [ext: isaacsim.robot.wheeled_robots-5.2.5] startup
+[17.070s] [ext: isaacsim.robot.wheeled_robots.nodes-0.1.12] startup
+[17.116s] [ext: isaacsim.robot_motion.controllers-0.3.2] startup
+[17.134s] [ext: isaacsim.robot_motion.cumotion-1.4.0] startup
+[17.158s] [ext: omni.kit.numpy.common-0.1.3] startup
+[17.162s] [ext: omni.rtx.spg-0.4.0] startup
+[17.170s] [ext: omni.sensors.nv.camera-1.0.0] startup
+[17.182s] [ext: isaacsim.sensors.camera-1.7.13] startup
+[17.224s] [ext: isaacsim.sensors.experimental.physics-3.3.0] startup
+[17.242s] [ext: omni.sensors.net-1.0.1] startup
+[17.248s] [ext: omni.sensors.nv.common-3.0.0] startup
+[17.268s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[17.275s] [ext: omni.sensors.nv.acoustic-3.0.0] startup
+[17.282s] [ext: omni.sensors.nv.ids-2.0.1] startup
+[17.286s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[17.295s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[17.302s] [ext: isaacsim.sensors.experimental.rtx-1.9.0] startup
+[17.671s] [ext: isaacsim.sensors.physics.nodes-1.6.2] startup
+[17.685s] [ext: isaacsim.util.debug_draw-3.2.6] startup
+[17.697s] [ext: isaacsim.sensors.physx-2.5.7] startup
+[17.714s] [ext: isaacsim.sensors.rtx-15.17.5] startup
+[17.737s] [ext: isaacsim.simulation_app-2.19.0] startup
+[17.738s] [ext: omni.anim.curve.core-1.6.1] startup
+[17.757s] [ext: omni.graph.ui_nodes-2.11.1] startup
+[17.820s] [ext: omni.kit.manipulator.camera-110.1.0] startup
+[17.829s] [ext: omni.kit.manipulator.selector-1.1.4] startup
+[17.833s] [ext: omni.kit.manipulator.transform-107.0.1] startup
+[17.842s] [ext: omni.kit.widget.toolbar-2.1.0] startup
+[17.855s] [ext: omni.kit.manipulator.tool.snap-1.5.15] startup
+[17.864s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[17.868s] [ext: omni.kit.manipulator.prim.core-108.0.2] startup
+[17.879s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[17.883s] [ext: omni.kit.manipulator.prim-108.0.0] startup
+[17.883s] [ext: omni.kit.manipulator.selection-110.0.0] startup
+[17.887s] [ext: omni.kit.menu.create-2.0.2] startup
+[17.891s] [ext: omni.kit.property.audio-1.0.18] startup
+[17.898s] [ext: omni.kit.property.camera-1.0.14] startup
+[17.902s] [ext: omni.kit.property.geometry-2.1.2] startup
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+[17.990s] [ext: omni.kit.property.material-1.14.10] startup
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+[18.039s] [ext: omni.kit.ui.actions-1.0.5] startup
+[18.043s] [ext: omni.kit.viewport.menubar.camera-107.0.14] startup
+[18.055s] [ext: omni.kit.viewport.menubar.lighting-107.3.2] startup
+[18.061s] [ext: omni.kit.viewport.menubar.render-110.1.1] startup
+[18.067s] [ext: omni.kit.viewport.menubar.settings-110.0.1] startup
+[18.076s] [ext: omni.kit.window.console-1.1.10] startup
+[18.085s] [ext: omni.kit.window.status_bar-0.1.11] startup
+[18.091s] [ext: omni.kit.window.toolbar-3.0.3] startup
+[18.095s] [ext: omni.ocio-0.1.1] startup
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+[18.103s] [ext: omni.replicator.replicator_yaml-2.0.12] startup
+[18.124s] [ext: omni.rtx.window.settings-0.8.2] startup
+[18.133s] [ext: omni.rtx.settings.core-0.7.1] startup
+[18.141s] [ext: omni.usd.metrics.assembler.ui-110.1.1] startup
+[18.153s] [ext: semantics.schema.editor-2.0.2] startup
+[18.159s] [ext: semantics.schema.property-2.0.2] startup
+[18.163s] [ext: omni.kit.menu.common-2.0.2] startup
+[18.167s] [ext: isaacsim.exp.base-6.1.0] startup
+[18.168s] [ext: isaacsim.exp.base.python-6.1.0] startup
+[18.175s] Simulation App Starting
+[20.287s] Simulation App Startup Complete
+[20.297s] app ready
+2026-10-16T14:21:44Z [22,252ms] [Warning] [omni.fabric.plugin] Unsupported type encountered during VtValue extraction
+2026-10-16T14:21:44Z [22,253ms] [Warning] [omni.fabric.plugin] Attempting to set an invalid data source to array attribute
+
+2026-10-16T14:21:46Z [23,638ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/M_BaseMaterial_twosided.mdl(278,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:46Z [23,763ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,763ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,763ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,763ms] [Warning] [omni.rtx.materials] Parameter 'EmissiveIntensity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,763ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,764ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,764ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,764ms] [Warning] [omni.rtx.materials] Parameter 'FresnelB' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,764ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,764ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'IsBaseColorTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'IsEmissiveTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'IsGlossTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'IsMetallicTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'IsNormalTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'IsSpecularTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'MaxTexCoordIndex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'Normal_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'Normal_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,765ms] [Warning] [omni.rtx.materials] Parameter 'Opacity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,766ms] [Warning] [omni.rtx.materials] Parameter 'PolygonOffset' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,766ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,766ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,766ms] [Warning] [omni.rtx.materials] Parameter 'Specular_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [23,766ms] [Warning] [omni.rtx.materials] Parameter 'SwitchRefraction' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0028/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((12))' not available in the MDL representation.
+2026-10-16T14:21:46Z [24,177ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/M_TranslucentMaterial.mdl(299,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:47Z [25,099ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/rongbu_Inst.mdl(66,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:47Z [25,302ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/rongbu3.mdl(66,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:47Z [25,489ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,490ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,490ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,490ms] [Warning] [omni.rtx.materials] Parameter 'EmissiveIntensity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,490ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,490ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,491ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,491ms] [Warning] [omni.rtx.materials] Parameter 'FresnelB' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,491ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,491ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,491ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,491ms] [Warning] [omni.rtx.materials] Parameter 'IsBaseColorTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,491ms] [Warning] [omni.rtx.materials] Parameter 'IsEmissiveTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'IsGlossTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'IsMetallicTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'IsNormalTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'IsSpecularTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'MaxTexCoordIndex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Normal_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Normal_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Opacity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'PolygonOffset' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'Specular_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:47Z [25,492ms] [Warning] [omni.rtx.materials] Parameter 'SwitchRefraction' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0007/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((161))' not available in the MDL representation.
+2026-10-16T14:21:48Z [26,460ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/rongbu2.mdl(65,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:49Z [26,889ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/T_5f0d8e6ed849e100010ee906_emission_Mat.mdl(42,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:49Z [27,494ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,494ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,494ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,495ms] [Warning] [omni.rtx.materials] Parameter 'EmissiveIntensity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,495ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,495ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,495ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,495ms] [Warning] [omni.rtx.materials] Parameter 'FresnelB' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'IsBaseColorTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'IsEmissiveTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'IsGlossTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'IsMetallicTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'IsNormalTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'IsSpecularTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,496ms] [Warning] [omni.rtx.materials] Parameter 'MaxTexCoordIndex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Normal_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Normal_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Opacity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'PolygonOffset' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'Specular_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:49Z [27,497ms] [Warning] [omni.rtx.materials] Parameter 'SwitchRefraction' of shade node 'usd::rtx_scope0::/World/Scene/Assets/wine_set_0006/Looks/m_06c991bedfb0f298/Shader::::OmniGlass::OmniGlass((486))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,637ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/rongbu1.mdl(65,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:50Z [27,659ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,659ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,660ms] [Warning] [omni.rtx.materials] Parameter 'BaseColor_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,660ms] [Warning] [omni.rtx.materials] Parameter 'EmissiveIntensity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,660ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,660ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,660ms] [Warning] [omni.rtx.materials] Parameter 'Emissive_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,660ms] [Warning] [omni.rtx.materials] Parameter 'FresnelB' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,661ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,661ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,661ms] [Warning] [omni.rtx.materials] Parameter 'Gloss_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,661ms] [Warning] [omni.rtx.materials] Parameter 'IsBaseColorTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,661ms] [Warning] [omni.rtx.materials] Parameter 'IsEmissiveTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,661ms] [Warning] [omni.rtx.materials] Parameter 'IsGlossTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'IsMetallicTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'IsNormalTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'IsSpecularTex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'MaxTexCoordIndex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'Metallic_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,662ms] [Warning] [omni.rtx.materials] Parameter 'Normal_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,663ms] [Warning] [omni.rtx.materials] Parameter 'Normal_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,663ms] [Warning] [omni.rtx.materials] Parameter 'Opacity' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,663ms] [Warning] [omni.rtx.materials] Parameter 'PolygonOffset' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,663ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Color' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,663ms] [Warning] [omni.rtx.materials] Parameter 'Specular_Tex' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,663ms] [Warning] [omni.rtx.materials] Parameter 'Specular_UVA' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [27,663ms] [Warning] [omni.rtx.materials] Parameter 'SwitchRefraction' of shade node 'usd::rtx_scope0::/World/Scene/Assets/picture_frame_0027/Looks/m_ea4f6575a1952fa5/Shader::::OmniGlass::OmniGlass((511))' not available in the MDL representation.
+2026-10-16T14:21:50Z [28,274ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/M_59268dbcbc974b45eaafd427.mdl(54,8): C350 unused let temporary 'SurfaceThickness_mdl'
+2026-10-16T14:21:51Z [28,665ms] [Warning] [rtx.neuraylib.plugin] [MDLC:COMPILER]   1.0   MDLC   comp warn : file:/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/Materials/BasicShapeMaterial.mdl(44,8): C350 unused let temporary 'SurfaceThickness_mdl'
+[31.953s] [ext: omni.physx.fabric-110.3.2] startup
+SCENE {"path": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/task_scene.usda", "asset_count": 367, "rigid_body_count": 198, "dynamic_rigid_body_count": 180, "joint_count": 61, "collider_count": 19014, "deformable_body_count": 14, "device": "cuda:3", "backend": "torch", "physics_dt": 0.008333333333333333, "solver": "TGS", "gpu_dynamics": true, "ccd": false, "open_doors": [{"joint": "/World/Scene/Assets/door_0003/Joints/link_0001", "leaf": "/World/Scene/Assets/door_0003/Links/link_0001", "angle_degrees": 95.0, "held_open": true, "collisions_preserved": true}], "pillow_masses_kg": {"pillow_0000": 1.147133469581604, "pillow_0001": 1.1706130504608154, "pillow_0002": 1.3791141510009766, "pillow_0003": 1.5, "pillow_0004": 1.0145330429077148, "pillow_0005": 0.863793671131134, "pillow_0006": 0.8471396565437317, "pillow_0007": 0.8504337668418884, "pillow_0008": 0.6386892199516296, "pillow_0009": 0.6371022462844849, "pillow_0010": 0.5507074594497681, "pillow_0011": 0.6569907665252686, "throw_pillow_0000": 0.25, "throw_pillow_0001": 0.25}}
+2026-10-16T14:22:02Z [39,853ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (0.2453000068664551) and 'horizontalAperture' (0.3895999908447266) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 0.29219999313354494 to ensure square pixels.
+2026-10-16T14:22:02Z [39,858ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (0.2130786657333374) and 'horizontalAperture' (0.3760131120681763) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 0.2820098340511322 to ensure square pixels.
+2026-10-16T14:22:02Z [39,864ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (0.2130786657333374) and 'horizontalAperture' (0.3760131120681763) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 0.2820098340511322 to ensure square pixels.
+2026-10-16T14:22:02Z [40,051ms] [Warning] [isaacsim.sensors.camera.camera] 'verticalAperture' (1.5290800094604493) and 'horizontalAperture' (2.0954999923706055) are inconsistent with the pixel resolution aspect ratio (1.3333333333333333). Setting 'verticalAperture' to 1.571624994277954 to ensure square pixels.
+2026-10-16T14:22:02Z [40,385ms] [Warning] [omni.usd] Encountered USD Warnings but USD Diagnostics are currently muted. To view USD Warnings, please set the '/persistent/app/usd/muteUsdDiagnostics' setting to false in Preferences page.
+2026-10-16T14:22:04Z [42,097ms] [Warning] [rtx.hydra] Mesh '/World/G2/arm_r_link2/visuals/default_visual/mesh' has corrupted data in primvar 'st': buffer size 73505 doesn't match expected size 313550 in faceVarying primvars
+2026-10-16T14:22:04Z [42,105ms] [Warning] [rtx.hydra] Mesh '/World/G2/arm_l_link2/visuals/default_visual/mesh' has corrupted data in primvar 'st': buffer size 73505 doesn't match expected size 313550 in faceVarying primvars
+2026-10-16T14:22:04Z [42,364ms] [Warning] [rtx.hydra] Mesh '/World/G2/base_link/visuals/base_link/mesh' has corrupted data in primvar 'st': buffer size 49329 doesn't match expected size 252735 in faceVarying primvars
+2026-10-16T14:22:04Z [42,505ms] [Warning] [rtx.hydra] Mesh '/World/G2/body_link2/visuals/body_link2/mesh' has corrupted data in primvar 'st': buffer size 8498 doesn't match expected size 40253 in faceVarying primvars
+2026-10-16T14:22:04Z [42,512ms] [Warning] [rtx.hydra] Mesh '/World/G2/body_link5/visuals/body_link5/mesh' has corrupted data in primvar 'st': buffer size 35730 doesn't match expected size 198306 in faceVarying primvars
+2026-10-16T14:22:04Z [42,527ms] [Warning] [rtx.hydra] Mesh '/World/G2/body_link4/visuals/body_link4/mesh' has corrupted data in primvar 'st': buffer size 15975 doesn't match expected size 86226 in faceVarying primvars
+2026-10-16T14:22:10Z [48,355ms] [Warning] [omni.hydra] Mesh '/World/Scene/Assets/pillow_0000/Visual/part_0000' update topology/point without updating normal, fallback to smooth normal.
+2026-10-16T14:22:12Z [50,051ms] [Warning] [omni.rtx] DLSS increasing input dimensions: Render resolution of (320, 240) is below minimal input resolution of 300.
+2026-10-16T14:22:13Z [51,506ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostRenderVarToHost : rendervar copy from texture directly to host buffer is counter-performant. Please use copy from texture to device buffer first.
+2026-10-16T14:22:15Z [52,973ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar InstanceIdTokenMapSD
+Module core.deformable 44a3045 load on device 'cuda:3' took 1.06 ms  (cached)
+VIDEO_SEGMENT=/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/video_segments/segment_0001.mp4
+{"run_dir": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect", "mode": "inspect", "reason": null, "success": null, "video_frames": 1}
+[58.231s] Simulation App Shutting Down

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/config.json

@@ -0,0 +1,118 @@
+{
+  "run": {
+    "storage_root": "/mnt/38_store/myx/RoboBench",
+    "task": "pillow_to_ensuite_bed",
+    "policy": "harness",
+    "sim": {
+      "version": "6.1.0",
+      "physics_dt": 0.008333333333333333,
+      "control_dt": 0.06666666666666667,
+      "video_fps": 15,
+      "video_segment_seconds": 60,
+      "realtime": true,
+      "camera_resolution": [
+        320,
+        240
+      ],
+      "overview_resolution": [
+        640,
+        480
+      ],
+      "physics_gpu": 3
+    }
+  },
+  "task": {
+    "scene": "kujiale_0004_multitask",
+    "robot": "g2",
+    "scene_variant": "deformable_sofa_coffee_table_edge_clear_approach",
+    "open_doors": {
+      "Assets/door_0003/Joints/link_0001": 95.0
+    },
+    "instruction": "Find a pillow on the living-room sofa and carry it onto the bed in the bedroom that has its own bathroom. Release the pillow on that bed.",
+    "scene_offsets": {
+      "Assets/sofa_0000": [
+        4.1,
+        -1.2,
+        0.0
+      ],
+      "Assets/bedding_0002": [
+        4.1,
+        -1.2,
+        0.0
+      ]
+    },
+    "pillow_poses": {
+      "pillow_0008": {
+        "position": [
+          2.02,
+          0.3,
+          0.48
+        ],
+        "quaternion": [
+          0.5098424158105368,
+          0.8584931251902679,
+          -0.05522920460700809,
+          0.0
+        ]
+      },
+      "pillow_0009": {
+        "position": [
+          2.69,
+          0.3,
+          0.48
+        ],
+        "quaternion": [
+          0.5117744157773503,
+          0.8582749340650256,
+          -0.038093108450577694,
+          0.0
+        ]
+      },
+      "pillow_0010": {
+        "position": [
+          3.35,
+          0.32,
+          0.49
+        ],
+        "quaternion": [
+          0.8471191633579531,
+          -0.5313951928496249,
+          -0.0028761237858370755,
+          0.0
+        ]
+      },
+      "pillow_0011": {
+        "position": [
+          3.94,
+          0.17,
+          0.5
+        ],
+        "quaternion": [
+          1.0,
+          0.0,
+          0.0,
+          0.0
+        ]
+      }
+    },
+    "spawn": {
+      "position": [
+        -0.85,
+        -1.8,
+        0.03
+      ],
+      "yaw": 3.141592653589793
+    },
+    "episode_seconds": 300,
+    "max_control_steps": 1200,
+    "settle_seconds": 8.0,
+    "stable_seconds": 2.0,
+    "max_linear_speed": 0.05,
+    "max_angular_speed": 0.2,
+    "max_nodal_speed": 0.05,
+    "grasp_seconds": 0.2,
+    "pickup_height": 0.08,
+    "carry_distance": 0.3,
+    "pillow_physics": "volumetric_deformable"
+  }
+}

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/episode.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97081637e5acd026c239d0f9f4b229a1808e4972251cbf1f43842ecd16142277
+size 69441

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/result.json

@@ -0,0 +1,1270 @@
+{
+  "mode": "inspect",
+  "benchmark_episode": false,
+  "task": "pillow_to_ensuite_bed",
+  "seed": 0,
+  "initial_visibility": {
+    "head_image": {
+      "pillow_0008": 0,
+      "pillow_0009": 0,
+      "pillow_0010": 0,
+      "pillow_0011": 0
+    },
+    "left_wrist_image": {
+      "pillow_0008": 0,
+      "pillow_0009": 0,
+      "pillow_0010": 0,
+      "pillow_0011": 0
+    },
+    "right_wrist_image": {
+      "pillow_0008": 0,
+      "pillow_0009": 0,
+      "pillow_0010": 0,
+      "pillow_0011": 0
+    }
+  },
+  "action_dim": 22,
+  "action_representation": "robobench_g2_body_velocity_dual_eef_wxyz_body3_v2",
+  "body_joint_names": [
+    "idx01_body_joint1",
+    "idx02_body_joint2",
+    "idx03_body_joint3"
+  ],
+  "contact_sensors": {
+    "method": "deformable_geometry_v1",
+    "pillow_count": 14,
+    "bed_support_paths": [
+      "/World/Scene/Assets/bed_0000",
+      "/World/Scene/Assets/bedding_0000",
+      "/World/Scene/Assets/bedding_0001",
+      "/World/Scene/Assets/pillow_0000",
+      "/World/Scene/Assets/pillow_0001",
+      "/World/Scene/Assets/pillow_0002",
+      "/World/Scene/Assets/pillow_0003"
+    ],
+    "geometry": {
+      "geometry_version": "geometry_v1",
+      "geometry_tolerance_m": 0.004,
+      "surface_sampling": "collision vertices, edge midpoints and face centres; reverse jaw queries",
+      "mass_weighting": "uniform-density lumped tetrahedron volume, excluding padding",
+      "pillow_count": 14,
+      "device": "cuda:3",
+      "pillow_offsets_m": {
+        "pillow_0000": {
+          "contact": 0.006000000052154064,
+          "rest": 0.003000000026077032
+        },
+        "pillow_0001": {
+          "contact": 0.006000000052154064,
+          "rest": 0.003000000026077032
+        },
+        "pillow_0002": {
+          "contact": 0.006000000052154064,
+          "rest": 0.003000000026077032
+        },
+        "pillow_0003": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "pillow_0004": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "pillow_0005": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "pillow_0006": {
+          "contact": 0.006000000052154064,
+          "rest": 0.003000000026077032
+        },
+        "pillow_0007": {
+          "contact": 0.006000000052154064,
+          "rest": 0.003000000026077032
+        },
+        "pillow_0008": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "pillow_0009": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "pillow_0010": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "pillow_0011": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "throw_pillow_0000": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        },
+        "throw_pillow_0001": {
+          "contact": 0.003000000026077032,
+          "rest": 0.0010000000474974513
+        }
+      },
+      "grasp_candidates": [
+        "pillow_0008",
+        "pillow_0009",
+        "pillow_0010",
+        "pillow_0011"
+      ],
+      "rigid_collision_approximations": [
+        [
+          "/World/G2/gripper_l_base_link/collisions/gripper_l_base_link_convex_0/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_l_inner_link1/visuals/inner_link1/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_l_inner_link2/visuals/inner_link2/mesh",
+          "convexDecomposition"
+        ],
+        [
+          "/World/G2/gripper_l_inner_link3/visuals/inner_link3/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_l_inner_link4/visuals/inner_link4/mesh",
+          "convexDecomposition"
+        ],
+        [
+          "/World/G2/gripper_l_outer_link1/visuals/outer_link1/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_l_outer_link2/visuals/outer_link2/mesh",
+          "convexDecomposition"
+        ],
+        [
+          "/World/G2/gripper_l_outer_link3/visuals/outer_link3/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_l_outer_link4/visuals/outer_link4/mesh",
+          "convexDecomposition"
+        ],
+        [
+          "/World/G2/gripper_r_inner_link1/visuals/inner_link1/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_r_inner_link2/visuals/inner_link2/mesh",
+          "convexDecomposition"
+        ],
+        [
+          "/World/G2/gripper_r_inner_link3/visuals/inner_link3/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_r_inner_link4/visuals/inner_link4/mesh",
+          "convexDecomposition"
+        ],
+        [
+          "/World/G2/gripper_r_outer_link1/visuals/outer_link1/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_r_outer_link2/visuals/outer_link2/mesh",
+          "convexDecomposition"
+        ],
+        [
+          "/World/G2/gripper_r_outer_link3/visuals/outer_link3/mesh",
+          "convexHull"
+        ],
+        [
+          "/World/G2/gripper_r_outer_link4/visuals/outer_link4/mesh",
+          "convexDecomposition"
+        ]
+      ],
+      "rigid_evidence_mesh_source": "PhysX cooked convex hull/decomposition surfaces; authored triangle meshes; analytic cubes and tessellated cylinders",
+      "analytic_cylinder_surface_segments": 128,
+      "bed_anchor_height": {
+        "source": "bedding",
+        "method": "upward triangle area-weighted median minus 0.04 m",
+        "median_z_m": 0.6535139083862305,
+        "minimum_z_m": 0.6135139083862304
+      },
+      "tensor_order": [
+        "/World/Scene/Assets/pillow_0000",
+        "/World/Scene/Assets/pillow_0001",
+        "/World/Scene/Assets/pillow_0002",
+        "/World/Scene/Assets/pillow_0003",
+        "/World/Scene/Assets/pillow_0004",
+        "/World/Scene/Assets/pillow_0005",
+        "/World/Scene/Assets/pillow_0006",
+        "/World/Scene/Assets/pillow_0007",
+        "/World/Scene/Assets/pillow_0008",
+        "/World/Scene/Assets/pillow_0009",
+        "/World/Scene/Assets/pillow_0010",
+        "/World/Scene/Assets/pillow_0011",
+        "/World/Scene/Assets/throw_pillow_0000",
+        "/World/Scene/Assets/throw_pillow_0001"
+      ],
+      "simulation_node_counts": {
+        "pillow_0000": 2538,
+        "pillow_0001": 2815,
+        "pillow_0002": 3086,
+        "pillow_0003": 2996,
+        "pillow_0004": 1982,
+        "pillow_0005": 1942,
+        "pillow_0006": 3321,
+        "pillow_0007": 3289,
+        "pillow_0008": 4579,
+        "pillow_0009": 4480,
+        "pillow_0010": 4856,
+        "pillow_0011": 3631,
+        "throw_pillow_0000": 1127,
+        "throw_pillow_0001": 1126
+      },
+      "collision_node_counts": {
+        "pillow_0000": 6125,
+        "pillow_0001": 6474,
+        "pillow_0002": 7277,
+        "pillow_0003": 7009,
+        "pillow_0004": 639,
+        "pillow_0005": 636,
+        "pillow_0006": 7482,
+        "pillow_0007": 7351,
+        "pillow_0008": 11066,
+        "pillow_0009": 10797,
+        "pillow_0010": 12090,
+        "pillow_0011": 8507,
+        "throw_pillow_0000": 2264,
+        "throw_pillow_0001": 2226
+      },
+      "padded_simulation_nodes": 4856,
+      "padded_collision_nodes": 12090,
+      "grasp_follow_seconds": 0.2,
+      "grasp_follow_tolerance_m": 0.008,
+      "grasp_minimum_hand_motion_m": 0.005,
+      "grasp_closing_axis": "measured G2 TCP local X, oriented from inner to outer finger",
+      "grasp_follow_reference": "two fixed collision triangle/barycentric material points",
+      "grasp_minimum_edge_strain": 0.005,
+      "grasp_minimum_edge_strain_change": 0.001
+    }
+  },
+  "joint_names": [
+    "idx21_arm_l_joint1",
+    "idx61_arm_r_joint1",
+    "idx05_body_joint5",
+    "idx11_head_joint1",
+    "idx22_arm_l_joint2",
+    "idx62_arm_r_joint2",
+    "idx04_body_joint4",
+    "idx12_head_joint2",
+    "idx23_arm_l_joint3",
+    "idx63_arm_r_joint3",
+    "idx03_body_joint3",
+    "idx13_head_joint3",
+    "idx24_arm_l_joint4",
+    "idx64_arm_r_joint4",
+    "idx02_body_joint2",
+    "idx25_arm_l_joint5",
+    "idx65_arm_r_joint5",
+    "idx01_body_joint1",
+    "idx26_arm_l_joint6",
+    "idx66_arm_r_joint6",
+    "idx27_arm_l_joint7",
+    "idx67_arm_r_joint7",
+    "idx111_chassis_lwheel_front_joint1",
+    "idx121_chassis_lwheel_rear_joint1",
+    "idx131_chassis_rwheel_front_joint1",
+    "idx141_chassis_rwheel_rear_joint1",
+    "idx112_chassis_lwheel_front_joint2",
+    "idx122_chassis_lwheel_rear_joint2",
+    "idx132_chassis_rwheel_front_joint2",
+    "idx142_chassis_rwheel_rear_joint2",
+    "idx31_gripper_l_inner_joint1",
+    "idx41_gripper_l_outer_joint1",
+    "idx71_gripper_r_inner_joint1",
+    "idx81_gripper_r_outer_joint1",
+    "idx32_gripper_l_inner_joint3",
+    "idx42_gripper_l_outer_joint3",
+    "idx72_gripper_r_inner_joint3",
+    "idx82_gripper_r_outer_joint3",
+    "idx33_gripper_l_inner_joint4",
+    "idx43_gripper_l_outer_joint4",
+    "idx73_gripper_r_inner_joint4",
+    "idx83_gripper_r_outer_joint4",
+    "idx39_gripper_l_inner_joint0",
+    "idx49_gripper_l_outer_joint0",
+    "idx79_gripper_r_inner_joint0",
+    "idx89_gripper_r_outer_joint0"
+  ],
+  "scene_variant": "deformable_sofa_coffee_table_edge_clear_approach",
+  "spawn": {
+    "position": [
+      -0.85,
+      -1.8,
+      0.03
+    ],
+    "yaw": 3.141592653589793
+  },
+  "pillow_physics": "volumetric_deformable",
+  "asset_versions": {
+    "scene": "multitask_v2_wide_doors",
+    "robot": "f65609e1"
+  },
+  "scene_path": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/task_scene.usda",
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+    "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/assets/window_0002.usd": "99c87101d59595145fba6a894b29d5c00d5b9eaf276da7eb667a37ef40211bf6",
+    "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_deformable/assets/throw_pillow_0001.usd": "a119b030b9e254027e273ccc04bf39702a2fc82f6528908314ec26e2acc4d748",
+    "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/assets/throw_pillow_0001.usd": "bb89f336c09c30d1f83ec38e5bd11e5e412aa1e518f416f46144c57dc3525e6e",
+    "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/assets/wall_0033.usd": "f2faab6127164b4a63a16127ba0594394e70bc989de3f66c626810054e7dc33e",
+    "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_simready/assets/decorative_box_0002.usd": "c9069edbe5195de9fcca736907617b70ed9e425101aaea19b95dc33adcf984ba",
+    "/mnt/38_store/myx/RoboBench/assets/robots/g2/f65609e1/configuration/Cam_R.usd": "2dcb93e617198af75d53241782deceea454204758e58fd9d64028176d3371b7d"
+  }
+}

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/scene.usda

@@ -0,0 +1,542 @@
+#usda 1.0
+(
+    endTimeCode = 1000000.0000000001
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 15
+    upAxis = "Z"
+)
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:ambientOcclusion:denoiserMode = "none"
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1
+                token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:indirectDiffuse:denoiser:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:adaptiveSampling:filterError = 0
+                uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2
+                int omni:rtx:pt:clampSpp = 64
+                uint omni:rtx:pt:limits:maxBounces = 3
+                uint omni:rtx:pt:limits:maxGlossyBounces = 3
+                uint omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                uint omni:rtx:pt:samplesPerPixel = 64
+                bool omni:rtx:reflections:denoiser:enabled = 0
+                token omni:rtx:rendermode = "RealTimePathTracing"
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                int omni:rtx:rt:sss:samples = 1
+                uint omni:rtx:rtpt:maxVolumeBounces = 15
+                float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (960, 720)
+            }
+
+            def RenderProduct "Replicator" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </World/G2/head_link3/head_front_Camera>
+                token omni:rtx:ambientOcclusion:denoiserMode = "none"
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1
+                token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:indirectDiffuse:denoiser:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:adaptiveSampling:filterError = 0
+                uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2
+                int omni:rtx:pt:clampSpp = 64
+                uint omni:rtx:pt:limits:maxBounces = 3
+                uint omni:rtx:pt:limits:maxGlossyBounces = 3
+                uint omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                uint omni:rtx:pt:samplesPerPixel = 64
+                bool omni:rtx:reflections:denoiser:enabled = 0
+                token omni:rtx:rendermode = "RealTimePathTracing"
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                int omni:rtx:rt:sss:samples = 1
+                uint omni:rtx:rtpt:maxVolumeBounces = 15
+                float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (320, 240)
+            }
+
+            def RenderProduct "Replicator_01" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </World/G2/gripper_l_base_link/Left_Camera>
+                token omni:rtx:ambientOcclusion:denoiserMode = "none"
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1
+                token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:indirectDiffuse:denoiser:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:adaptiveSampling:filterError = 0
+                uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2
+                int omni:rtx:pt:clampSpp = 64
+                uint omni:rtx:pt:limits:maxBounces = 3
+                uint omni:rtx:pt:limits:maxGlossyBounces = 3
+                uint omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                uint omni:rtx:pt:samplesPerPixel = 64
+                bool omni:rtx:reflections:denoiser:enabled = 0
+                token omni:rtx:rendermode = "RealTimePathTracing"
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                int omni:rtx:rt:sss:samples = 1
+                uint omni:rtx:rtpt:maxVolumeBounces = 15
+                float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (320, 240)
+            }
+
+            def RenderProduct "Replicator_02" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </World/G2/gripper_r_base_link/Right_Camera>
+                token omni:rtx:ambientOcclusion:denoiserMode = "none"
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1
+                token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:indirectDiffuse:denoiser:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:adaptiveSampling:filterError = 0
+                uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2
+                int omni:rtx:pt:clampSpp = 64
+                uint omni:rtx:pt:limits:maxBounces = 3
+                uint omni:rtx:pt:limits:maxGlossyBounces = 3
+                uint omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                uint omni:rtx:pt:samplesPerPixel = 64
+                bool omni:rtx:reflections:denoiser:enabled = 0
+                token omni:rtx:rendermode = "RealTimePathTracing"
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                int omni:rtx:rt:sss:samples = 1
+                uint omni:rtx:rtpt:maxVolumeBounces = 15
+                float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (320, 240)
+            }
+
+            def RenderProduct "Replicator_03" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxSettingsParticleFieldAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </World/Overview>
+                token omni:rtx:ambientOcclusion:denoiserMode = "none"
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:debug:view:pixelDebug:enableFixedTextPos = 1
+                token omni:rtx:directLighting:sampledLighting:denoisingTechnique = "None"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:indirectDiffuse:denoiser:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:adaptiveSampling:filterError = 0
+                uint omni:rtx:pt:adaptiveSampling:fixedSppIterations = 2
+                int omni:rtx:pt:clampSpp = 64
+                uint omni:rtx:pt:limits:maxBounces = 3
+                uint omni:rtx:pt:limits:maxGlossyBounces = 3
+                uint omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                uint omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:pt:samplesPerIteration = 64
+                uint omni:rtx:pt:samplesPerPixel = 64
+                bool omni:rtx:reflections:denoiser:enabled = 0
+                token omni:rtx:rendermode = "RealTimePathTracing"
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:ecoMode:enabled = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                int omni:rtx:rt:sss:samples = 1
+                uint omni:rtx:rtpt:maxVolumeBounces = 15
+                float omni:rtx:rtpt:modulatingRoughnessThreshold = 0.08
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (640, 480)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = [
+            </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>,
+            </Render/OmniverseKit/HydraTextures/Replicator>,
+            </Render/OmniverseKit/HydraTextures/Replicator_01>,
+            </Render/OmniverseKit/HydraTextures/Replicator_02>,
+            </Render/OmniverseKit/HydraTextures/Replicator_03>,
+        ]
+    }
+
+    def "Vars" (
+        hide_in_stage_window = true
+        no_delete = true
+    )
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+            uniform token sourceType = "raw"
+        }
+    }
+}
+
+over "OmniverseKit_Persp"
+{
+    float exposure:fStop = 2.8
+    float exposure:responsivity = 1.1026709
+    float exposure:time = 0.016666668
+}
+
+def "World"
+{
+    def Xform "Scene" (
+        prepend references = @/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/task_scene.usda@
+    )
+    {
+        over "PhysicsScene" (
+            prepend apiSchemas = ["NewtonSceneAPI"]
+        )
+        {
+            uniform token physxScene:broadphaseType = "GPU"
+            bool physxScene:enableCCD = 0
+            bool physxScene:enableGPUDynamics = 1
+            uint physxScene:timeStepsPerSecond = 120
+        }
+
+        over "Assets"
+        {
+            over "door_0003"
+            {
+                over "Links"
+                {
+                    over "link_0001"
+                    {
+                        vector3f physics:angularVelocity = (0, 0, 0)
+                        bool physics:kinematicEnabled = 1
+                        vector3f physics:velocity = (0, 0, 0)
+                        bool physxRigidBody:enableCCD = 0
+                        matrix4d xformOp:transform:task_door_open = ( (-0.08715574274765836, 0.9961946980917455, 0, 0), (-0.9961946980917455, -0.08715574274765836, 0, 0), (0, 0, 1, 0), (0.6005993036813267, 0.5009142631025387, -0.04275387665256858, 1) )
+                        uniform token[] xformOpOrder = ["xformOp:transform:task_door_open"]
+                    }
+                }
+
+                over "Joints"
+                {
+                    over "link_0001"
+                    {
+                        bool physics:jointEnabled = 0
+                    }
+                }
+            }
+
+            over "sofa_0000"
+            {
+                matrix4d xformOp:transform:robobench_layout = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (5.383384577253396, -2.4828306429926776, 0.23672005542418245, 1) )
+                uniform token[] xformOpOrder = ["xformOp:transform:robobench_layout"]
+            }
+
+            over "bedding_0002"
+            {
+                matrix4d xformOp:transform:robobench_layout = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (5.227108412900115, -2.495191267963583, 0.2906587680671203, 1) )
+                uniform token[] xformOpOrder = ["xformOp:transform:robobench_layout"]
+            }
+        }
+    }
+
+    def Xform "G2" (
+        prepend references = @/mnt/38_store/myx/RoboBench/assets/robots/g2/f65609e1/robot.usda@
+    )
+    {
+        quatd xformOp:orient = (6.123234262925839e-17, 0, 0, 1)
+        double3 xformOp:translate = (-0.8500000238418579, -1.7999999523162842, 0.029999999329447746)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Material "WheelMaterial" (
+            prepend apiSchemas = ["PhysicsMaterialAPI"]
+        )
+        {
+            float physics:dynamicFriction = 1
+            float physics:restitution = 0
+            float physics:staticFriction = 1
+        }
+
+        over "joints"
+        {
+            over "idx111_chassis_lwheel_front_joint1" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 40
+                float drive:angular:physics:maxForce = 15
+                float drive:angular:physics:stiffness = 400
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+
+            over "idx112_chassis_lwheel_front_joint2" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 20
+                float drive:angular:physics:maxForce = 8
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+
+            over "idx121_chassis_lwheel_rear_joint1" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 40
+                float drive:angular:physics:maxForce = 15
+                float drive:angular:physics:stiffness = 400
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+
+            over "idx122_chassis_lwheel_rear_joint2" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 20
+                float drive:angular:physics:maxForce = 8
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+
+            over "idx131_chassis_rwheel_front_joint1" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 40
+                float drive:angular:physics:maxForce = 15
+                float drive:angular:physics:stiffness = 400
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+
+            over "idx132_chassis_rwheel_front_joint2" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 20
+                float drive:angular:physics:maxForce = 8
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+
+            over "idx141_chassis_rwheel_rear_joint1" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 40
+                float drive:angular:physics:maxForce = 15
+                float drive:angular:physics:stiffness = 400
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+
+            over "idx142_chassis_rwheel_rear_joint2" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 20
+                float drive:angular:physics:maxForce = 8
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+            }
+        }
+
+        over "chassis_lwheel_front_link2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </World/G2/WheelMaterial> (
+                bindMaterialAs = "strongerThanDescendants"
+            )
+        }
+
+        over "chassis_lwheel_rear_link2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </World/G2/WheelMaterial> (
+                bindMaterialAs = "strongerThanDescendants"
+            )
+        }
+
+        over "chassis_rwheel_front_link2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </World/G2/WheelMaterial> (
+                bindMaterialAs = "strongerThanDescendants"
+            )
+        }
+
+        over "chassis_rwheel_rear_link2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </World/G2/WheelMaterial> (
+                bindMaterialAs = "strongerThanDescendants"
+            )
+        }
+
+        over "head_link3"
+        {
+            over "head_front_Camera" (
+                prepend apiSchemas = ["OmniRtxCameraAutoExposureAPI_1", "OmniRtxCameraExposureAPI_1"]
+            )
+            {
+                float exposure:fStop = 2.8
+                float exposure:responsivity = 1.1026709
+                float exposure:time = 0.016666668
+                float verticalAperture = 2.922
+                quatd xformOp:orient = (-0.5945104360580444, -0.3868316411972046, 0.3787291347980499, 0.5945442914962769)
+                double3 xformOp:translate = (0.10237002372741699, 0.023749947547912598, 0.10256004333496094)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        over "gripper_l_base_link"
+        {
+            over "Left_Camera" (
+                prepend apiSchemas = ["OmniRtxCameraAutoExposureAPI_1", "OmniRtxCameraExposureAPI_1"]
+            )
+            {
+                float exposure:fStop = 2.8
+                float exposure:responsivity = 1.1026709
+                float exposure:time = 0.016666668
+                float verticalAperture = 2.8200984
+                quatd xformOp:orient = (-0.25628241896629333, -0.6590290665626526, 0.6590290665626526, 0.25628241896629333)
+                double3 xformOp:translate = (-0.08979654312133789, -0.0011587142944335938, 0.06070709228515625)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        over "gripper_r_base_link"
+        {
+            over "Right_Camera" (
+                prepend apiSchemas = ["OmniRtxCameraAutoExposureAPI_1", "OmniRtxCameraExposureAPI_1"]
+            )
+            {
+                float exposure:fStop = 2.8
+                float exposure:responsivity = 1.1026709
+                float exposure:time = 0.016666668
+                float verticalAperture = 2.8200984
+                quatd xformOp:orient = (0.25628238916397095, 0.6590290665626526, 0.6590290665626526, 0.25628238916397095)
+                double3 xformOp:translate = (0.08980000019073486, 0.0011599063873291016, 0.060707151889801025)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Camera "Overview" (
+        prepend apiSchemas = ["OmniRtxCameraAutoExposureAPI_1", "OmniRtxCameraExposureAPI_1"]
+    )
+    {
+        float2 clippingRange = (17.6, 30)
+        float exposure:fStop = 2.8
+        float exposure:responsivity = 1.1026709
+        float exposure:time = 0.016666668
+        float horizontalAperture = 200
+        token projection = "orthographic"
+        float verticalAperture = 150
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 20)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/states.jsonl

@@ -0,0 +1 @@
+{"frame": 0, "video_time": 0.0, "control_step": 0, "decision_step": 0, "action": null, "phase": "initial", "robot": {"base_position": [-0.8443301916122437, -1.7999768257141113, 0.041000790894031525], "base_quaternion": [-6.536980799864978e-05, 2.521260284993332e-06, -4.120848871025373e-07, -1.0], "joint_positions": [1.5708006620407104, -1.5707666873931885, -8.88365548235015e-07, 6.91426066623535e-07, -1.5000063180923462, -1.5000418424606323, -2.4798739559628302e-06, 1.127524342336983e-06, -1.5708202123641968, 1.5707756280899048, -1.5433042790391482e-05, -8.24178641778417e-06, -1.2998745441436768, -1.299884557723999, 2.867883631552104e-05, 3.488667516649002e-06, -4.689604338636855e-06, -0.00016355063416995108, -5.9865971707040444e-05, -6.28939233138226e-05, -1.1270656159467762e-06, -1.9700330256000598e-07, 9.969329767045565e-06, -8.814353350317106e-06, 5.930507086304715e-06, 0.0001324718032265082, -0.013596289791166782, 0.049905672669410706, 0.030791493132710457, -0.08805663138628006, -0.7853878140449524, 0.7853877544403076, -0.7853888273239136, 0.7853887677192688, -0.06466905772686005, 0.06462381780147552, -0.0646488294005394, 0.06480992585420609, -0.03483697026968002, 0.034906595945358276, -0.034875527024269104, 0.034415215253829956, 0.4508272111415863, -0.4508045017719269, 0.4508468210697174, -0.4504021406173706], "body_joints": [-0.00016355063416995108, 2.867883631552104e-05, -1.5433042790391482e-05], "left": {"position": [0.6454440659997739, 0.2754561968225709, 0.8910669489330437], "quaternion": [-0.028184832526582014, 0.7955617904841958, -0.021406986941312964, 0.6048378242530171], "gripper": 1.3253095850984664e-05}, "right": {"position": [0.6454626811833603, -0.2754179194678163, 0.8910919599727702], "quaternion": [-0.028156171517624215, -0.7955475325930399, -0.02141274812036819, -0.6048577085633694], "gripper": 1.1962949007737755e-05}}, "objects": {"pillow_0008": {"position": [2.024580717086792, 0.3052352964878082, 0.43975988030433655], "linear_velocity": [-0.00028994749300181866, -0.00020868852152489126, 0.006526527926325798], "bbox_min": [1.7743853330612183, 0.08047029376029968, 0.34473317861557007], "bbox_max": [2.2725980281829834, 0.5143711566925049, 0.5425628423690796], "nodal_speed_p95": 0.019832197576761246, "deformation": {"edge_strain_p95": 0.010625438764691353, "edge_strain_max": 0.11315137147903442, "inverted_tetrahedron_fraction": 0.0}, "grasped_by": [], "robot_near": false, "bed_supported": false, "evidence": {"version": "geometry_v1", "surface_tolerance_m": 0.004, "robot_surface_distance_m": 0.004999999888241291, "robot_inside_collision_surface": false, "distance_query_cap_m": 0.005, "direct_bed_support": false, "bed_surface_distance_m": 0.004999999888241291, "supporting_pillows": [], "hands": {}}}, "pillow_0009": {"position": [2.6977925300598145, 0.30149707198143005, 0.4364159107208252], "linear_velocity": [-0.00017040077364072204, -1.1080590411438607e-05, 0.007463674061000347], "bbox_min": [2.4304287433624268, 0.052268147468566895, 0.3427431583404541], "bbox_max": [2.954489231109619, 0.5248420834541321, 0.5514162182807922], "nodal_speed_p95": 0.010070820339024067, "deformation": {"edge_strain_p95": 0.01419014297425747, "edge_strain_max": 0.11246347427368164, "inverted_tetrahedron_fraction": 0.0}, "grasped_by": [], "robot_near": false, "bed_supported": false, "evidence": {"version": "geometry_v1", "surface_tolerance_m": 0.004, "robot_surface_distance_m": 0.004999999888241291, "robot_inside_collision_surface": false, "distance_query_cap_m": 0.005, "direct_bed_support": false, "bed_surface_distance_m": 0.004999999888241291, "supporting_pillows": [], "hands": {}}}, "pillow_0010": {"position": [3.352424144744873, 0.32604727149009705, 0.4520857334136963], "linear_velocity": [0.0001351898245047778, -0.00018392252968624234, 0.007402274291962385], "bbox_min": [3.0996131896972656, 0.127644345164299, 0.36728957295417786], "bbox_max": [3.599686861038208, 0.5428467988967896, 0.5619605183601379], "nodal_speed_p95": 0.011084518395364285, "deformation": {"edge_strain_p95": 0.008509513922035694, "edge_strain_max": 0.08931571245193481, "inverted_tetrahedron_fraction": 0.0}, "grasped_by": [], "robot_near": false, "bed_supported": false, "evidence": {"version": "geometry_v1", "surface_tolerance_m": 0.004, "robot_surface_distance_m": 0.004999999888241291, "robot_inside_collision_surface": false, "distance_query_cap_m": 0.005, "direct_bed_support": false, "bed_surface_distance_m": 0.004999999888241291, "supporting_pillows": [], "hands": {}}}, "pillow_0011": {"position": [3.9205219745635986, 0.17491868138313293, 0.45788389444351196], "linear_velocity": [-0.0004265292955096811, 3.5055902117164806e-05, 0.007161467801779509], "bbox_min": [3.707900047302246, -0.06441004574298859, 0.32819631695747375], "bbox_max": [4.131526947021484, 0.4272577464580536, 0.6135189533233643], "nodal_speed_p95": 0.010564956814050674, "deformation": {"edge_strain_p95": 0.01365122850984335, "edge_strain_max": 0.08094751834869385, "inverted_tetrahedron_fraction": 0.0}, "grasped_by": [], "robot_near": false, "bed_supported": false, "evidence": {"version": "geometry_v1", "surface_tolerance_m": 0.004, "robot_surface_distance_m": 0.004999999888241291, "robot_inside_collision_surface": false, "distance_query_cap_m": 0.005, "direct_bed_support": false, "bed_surface_distance_m": 0.004999999888241291, "supporting_pillows": [], "hands": {}}}}, "evaluation_version": "deformable_geometry_v1", "simulation_time": 0.0}

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/task_scene.usda

@@ -0,0 +1,104 @@
+#usda 1.0
+(
+    customLayerData = {
+        string revision = "multitask_v2_wide_doors"
+        string selection = '{"active_deformables": ["pillow_0000", "pillow_0001", "pillow_0002", "pillow_0003", "pillow_0004", "pillow_0005", "pillow_0006", "pillow_0007", "pillow_0008", "pillow_0009", "pillow_0010", "pillow_0011", "throw_pillow_0000", "throw_pillow_0001"], "deformable_iterations": {"pillow_0000": 96, "pillow_0001": 96, "pillow_0002": 96, "pillow_0003": 32, "pillow_0004": 32, "pillow_0005": 32, "pillow_0006": 96, "pillow_0007": 96, "pillow_0008": 32, "pillow_0009": 32, "pillow_0010": 32, "pillow_0011": 32, "throw_pillow_0000": 224, "throw_pillow_0001": 224}, "manifest": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/manifest.json", "revision": "multitask_v2_wide_doors", "rooms": {"balcony_764413": "low", "balcony_792635": "low", "bathroom_763004": "low", "bathroom_765775": "low", "bedroom_765353": "low", "bedroom_778247": "low", "diningroom_785051": "low", "kitchen_768297": "low", "livingroom_763001": "low", "shared": "low", "studyroom_763003": "low", "unknown_783683": "low", "unknown_786425": "low"}, "scene": "/mnt/38_store/myx/RoboBench/assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/task_scene.usda", "scope": {"always_active_objects": [], "candidate_objects": ["pillow_0000", "pillow_0001", "pillow_0002", "pillow_0003", "pillow_0004", "pillow_0005", "pillow_0006", "pillow_0007", "pillow_0008", "pillow_0009", "pillow_0010", "pillow_0011", "throw_pillow_0000", "throw_pillow_0001"], "low_rooms": ["balcony_764413", "balcony_792635", "bathroom_763004", "bathroom_765775", "bedroom_765353", "bedroom_778247", "diningroom_785051", "kitchen_768297", "livingroom_763001", "shared", "studyroom_763003", "unknown_783683", "unknown_786425"], "relevant_objects": ["basin_0000", "basin_0001", "bathroom_product_0000", "bathroom_product_0001", "bathroom_product_0002", "bathroom_product_0003", "bathroom_product_0004", "bathroom_product_0005", "bathroom_product_0006", "bed_0000", "bed_0001", "bed_0002", "bedding_0000", "bedding_0001", "bedding_0002", "bedding_0003", "bedding_0004", "book_0000", "book_0001", "book_0002", "book_0003", "book_0004", "book_0005", "book_0006", "book_0007", "book_0008", "book_0009", "book_0010", "book_0011", "book_0012", "book_0013", "book_0014", "book_0015", "bowl_0000", "bowl_0001", "bowl_0002", "bowl_0003", "bowl_0004", "bowl_0005", "cabinet_0000", "cabinet_0001", "cabinet_0002", "cabinet_0003", "cabinet_0004", "cabinet_0005", "cabinet_0006", "cabinet_0007", "cabinet_0008", "cabinet_0009", "cabinet_0010", "cabinet_0011", "cabinet_0012", "ceiling_0000", "ceiling_0001", "ceiling_0002", "ceiling_0003", "ceiling_0004", "ceiling_0005", "ceiling_0006", "ceiling_0007", "ceiling_0008", "ceiling_0009", "ceiling_0010", "ceiling_0011", "ceiling_0012", "ceiling_0013", "ceiling_0029", "ceiling_light_0000", "ceiling_light_0001", "ceiling_light_0001_1115", "ceiling_light_0002", "ceiling_light_0002_1116", "chair_0000", "chair_0001", "chair_0002", "chair_0003", "chair_0004", "chair_0005", "chair_0006", "chair_0007", "chandelier_0014", "chandelier_0015", "chandelier_0016", "chandelier_0017", "chandelier_0018", "clock_0000", "closestool_0000", "closestool_0001", "cookware_0000", "cosmetic_0000", "curtain_0000", "curtain_0001", "curtain_0002", "curtain_0003", "curtain_0004", "curtain_0005", "curtain_0006", "curtain_0007", "curtain_0008", "curtain_0009", "curtain_0010", "curtain_0011", "curtain_0012", "curtain_0013", "curtain_0014", "curtain_0015", "curtain_0016", "daily_equipment_0000", "daily_equipment_0001", "daily_equipment_0002", "daily_equipment_0003", "daily_equipment_0004", "daily_equipment_0005", "daily_equipment_0006", "daily_equipment_0007", "daily_equipment_0008", "daily_equipment_0009", "decorative_box_0000", "decorative_box_0001", "decorative_box_0002", "dining_table_0000", "door_0000", "door_0001", "door_0002", "door_0003", "door_0004", "door_0005", "door_0006", "door_0007", "door_handle_0000", "door_handle_0001", "door_handle_0002", "door_handle_0003", "door_handle_0004", "door_handle_0005", "door_handle_0006", "door_handle_0007", "door_handle_0008", "door_handle_0009", "door_handle_0010", "door_handle_0011", "door_handle_0012", "door_handle_0013", "door_handle_0014", "door_handle_0015", "door_handle_0016", "door_handle_0017", "door_handle_0018", "doorsill_0000", "doorsill_0001", "doorsill_0002", "doorsill_0003", "doorsill_0004", "doorsill_0005", "doorsill_0006", "doorsill_0007", "doorsill_0008", "doorsill_0009", "electric_appliance_0000", "floor_0000", "floor_0001", "floor_0002", "floor_0003", "floor_0004", "floor_0005", "floor_0006", "floor_0007", "floor_0008", "floor_0009", "floor_0010", "floor_0011", "floor_0012", "flower_0000", "flower_0001", "flower_0002", "flower_0003", "flower_0004", "flower_0005", "flower_0006", "flower_0007", "fridge_0000", "hardware_decoration_0000", "hardware_decoration_0001", "hardware_decoration_0002", "hardware_decoration_0003", "hardware_decoration_0004", "kitchenware_0000", "kitchenware_0001", "kitchenware_0002", "kitchenware_0003", "kitchenware_0004", "kitchenware_0005", "kitchenware_0006", "mirror_0000", "mirror_0001", "mirror_0002", "office_supply_0000", "office_supply_0001", "ornament_0000", "ornament_0001", "ornament_0003", "ornament_0004", "ornament_0005", "ornament_0006", "ornament_0007", "ornament_0008", "ornament_0009", "ornament_0010", "ornament_0011", "ornament_0012", "ornament_0013", "ornament_0014", "ornament_0015", "ornament_0016", "ornament_0017", "ornament_0018", "ornament_0019", "ornament_0020", "ornament_0021", "ornament_0022", "ornament_0023", "ornament_0024", "ornament_0025", "ornament_0026", "ornament_0027", "ornament_0028", "ornament_0029", "ornament_0030", "ornament_0031", "ornament_0032", "ornament_0033", "ornament_0034", "ornament_0035", "ornament_0037", "ornament_0038", "ornament_0039", "ornament_0042", "ornament_0044", "ornament_0045", "ornament_0046", "painting_0000", "painting_0001", "painting_0002", "painting_0003", "painting_0004", "painting_0005", "picture_frame_0000", "picture_frame_0001", "picture_frame_0002", "picture_frame_0003", "picture_frame_0004", "picture_frame_0005", "picture_frame_0006", "picture_frame_0007", "picture_frame_0008", "picture_frame_0009", "picture_frame_0010", "picture_frame_0011", "picture_frame_0012", "picture_frame_0013", "picture_frame_0014", "picture_frame_0015", "picture_frame_0016", "picture_frame_0017", "picture_frame_0018", "picture_frame_0019", "picture_frame_0020", "picture_frame_0021", "picture_frame_0022", "picture_frame_0023", "picture_frame_0024", "picture_frame_0025", "picture_frame_0026", "picture_frame_0027", "picture_frame_0028", "pillow_0000", "pillow_0001", "pillow_0002", "pillow_0003", "pillow_0004", "pillow_0005", "pillow_0006", "pillow_0007", "pillow_0008", "pillow_0009", "pillow_0010", "pillow_0011", "range_hood_0000", "shelf_0000", "shelf_0001", "shelf_0002", "sofa_0000", "sofa_0001", "spoon_0000", "stool_0000", "storage_0000", "storage_0001", "table_0000", "table_0001", "table_0002", "table_lamp_0000", "television_0000", "television_0001", "television_0002", "throw_pillow_0000", "throw_pillow_0001", "tooling_0000", "tray_0000", "tray_0001", "tray_0002", "vase_0000", "vase_0001", "vase_0002", "vase_0003", "vase_0004", "vase_0006", "vase_0007", "vase_0008", "vase_0009", "vase_0010", "wall_0000", "wall_0024", "wall_0025", "wall_0026", "wall_0027", "wall_0028", "wall_0029", "wall_0030", "wall_0031", "wall_0032", "wall_0033", "wall_0034", "wall_0035", "wall_0036", "wall_0037", "wall_0038", "wall_0039", "wall_0040", "wall_0041", "wall_0042", "wall_0043", "wall_0044", "wall_decoration_0000", "wall_decoration_0001", "wall_light_0000", "wall_light_0001", "wall_light_0002", "window_0000", "window_0001", "window_0002", "window_0003", "window_0004", "window_0005", "window_0006", "window_0007", "window_0008", "window_0009", "window_0010", "window_0011", "wine_set_0000", "wine_set_0001", "wine_set_0002", "wine_set_0003", "wine_set_0004", "wine_set_0005", "wine_set_0006", "wine_set_0007"]}, "static_deformables": []}'
+    }
+    defaultPrim = "World"
+    metersPerUnit = 1
+    subLayers = [
+        @../../../common.usdc@,
+        @../../../rooms/balcony_764413/low.usdc@,
+        @../../../rooms/balcony_792635/low.usdc@,
+        @../../../rooms/bathroom_763004/low.usdc@,
+        @../../../rooms/bathroom_765775/low.usdc@,
+        @../../../rooms/bedroom_765353/low.usdc@,
+        @../../../rooms/bedroom_778247/low.usdc@,
+        @../../../rooms/diningroom_785051/low.usdc@,
+        @../../../rooms/kitchen_768297/low.usdc@,
+        @../../../rooms/livingroom_763001/low.usdc@,
+        @../../../rooms/shared/low.usdc@,
+        @../../../rooms/studyroom_763003/low.usdc@,
+        @../../../rooms/unknown_783683/low.usdc@,
+        @../../../rooms/unknown_786425/low.usdc@
+    ]
+    timeCodesPerSecond = 120
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    over "Assets"
+    {
+        over "pillow_0000"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 96
+        }
+
+        over "pillow_0001"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 96
+        }
+
+        over "pillow_0002"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 96
+        }
+
+        over "pillow_0003"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 32
+        }
+
+        over "pillow_0004"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 32
+        }
+
+        over "pillow_0005"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 32
+        }
+
+        over "pillow_0006"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 96
+        }
+
+        over "pillow_0007"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 96
+        }
+
+        over "pillow_0008"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 32
+        }
+
+        over "pillow_0009"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 32
+        }
+
+        over "pillow_0010"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 32
+        }
+
+        over "pillow_0011"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 32
+        }
+
+        over "throw_pillow_0000"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 224
+        }
+
+        over "throw_pillow_0001"
+        {
+            uint physxDeformableBody:solverPositionIterationCount = 224
+        }
+    }
+}
+

assets/scenes/kujiale_0004_multitask/reports/wide_doors/default_cli_inspect/video_segments.json

@@ -0,0 +1,18 @@
+{
+  "fps": 15,
+  "segment_simulation_seconds": 60,
+  "segments": [
+    {
+      "path": "video_segments/segment_0001.mp4",
+      "start_frame": 0,
+      "end_frame_exclusive": 1,
+      "frame_count": 1,
+      "video_start_seconds": 0.0,
+      "video_end_seconds": 0.06666666666666667,
+      "wall_start_seconds": 0.018888967984821647,
+      "wall_end_seconds": 0.6691024749889039,
+      "simulation_start_seconds": 0.0,
+      "simulation_end_seconds": 0.0
+    }
+  ]
+}