Complete verified Task 01 teacher and 815-case recovery campaign synchronization (part 18)

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+  "reason": "No-progress tail: both grippers empty from f5044 (right released trash f5043, left released can_115 f4796); head view identical at f5300, f6000, f7000, f8000, f9000, f10500 (swept on head+wrist mosaics); can_113 never flips a predicate anywhere in the episode. Seed at first frame per rule. Both hands are free and the frame does not favour one side; can_113 is visible on the floor by the trash. State does not occur in the demos I opened (010, 020, 050, 080, 140) since all D1 demos come after all three cans are inside."
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+}

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+  }
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/export.log

@@ -0,0 +1,4 @@
+/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to <class 'numpy.uint8'> for compatibility.
+  hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i])
+
+{"passed": true, "frames": 2439, "success": true, "export_seconds": 101.2, "slim": {"bytes_before": 15373225512, "bytes_after": 40604883}}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/outcome.json

@@ -0,0 +1,195 @@
+{
+  "success": true,
+  "training_eligible": false,
+  "status": "completed",
+  "run_configuration": {
+    "max_steps": 7902,
+    "resolution": 0,
+    "navigation_health_guard": true,
+    "curobo_fallback": false,
+    "rejoin_human_carry": false,
+    "ground_blocked_deposit": true,
+    "torso_collision_guard": true,
+    "self_collision_limits": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/manifests/self_collision_limits_v2.json",
+    "released_can_recovery": true,
+    "pose_window_settling": false,
+    "recenter_bin_for_rotation": false,
+    "guard_soft_envelope": false,
+    "flexible_can_wrist": true,
+    "preserve_fitting_can": false,
+    "refine_drop_alignment": false,
+    "avoid_grounded_bin": false,
+    "grounded_rim_recovery": true
+  },
+  "initial_task": {
+    "inside": {
+      "can__of__soda.n.01_1": true,
+      "can__of__soda.n.01_2": false,
+      "can__of__soda.n.01_3": false
+    },
+    "success": false,
+    "goal_status": {
+      "satisfied": [],
+      "unsatisfied": [
+        0
+      ]
+    },
+    "held": {
+      "left": null,
+      "right": "trash_can_116"
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+    "eef_world": {
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+    "bin_name": "ashcan.n.01_1",
+    "object_positions": {
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+  "steps": 2585,
+  "primitive_failures": {},
+  "quality_status": "pending_visual_and_dataset_audit",
+  "final_task": {
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+      "can__of__soda.n.01_1": true,
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+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/run.log

@@ -0,0 +1,638 @@
+RECOVERY building environment
+[00:00:03.572] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... -----
+Starting kit application with the following args:  ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/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', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data']
+[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260920_173132.log
+[0.134s] [ext: omni.kit.async_engine-0.0.3] startup
+DEBUG:asyncio:Using selector: EpollSelector
+[0.183s] [ext: omni.metrics.core-0.0.3] startup
+[0.183s] [ext: omni.client.lib-1.1.0] startup
+[0.192s] [ext: omni.blobkey-1.1.2] startup
+[0.192s] [ext: omni.stats-1.0.1] startup
+[0.193s] [ext: omni.datastore-0.0.0] startup
+[0.197s] [ext: omni.client-1.3.0] startup
+[0.200s] [ext: omni.ujitso.default-1.0.0] startup
+[0.202s] [ext: omni.hsscclient-1.1.2] startup
+[0.241s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[0.243s] [ext: omni.assets.plugins-0.0.0] startup
+[0.244s] [ext: omni.gpu_foundation-0.0.0] startup
+[0.250s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-09-20T09:31:32Z [214ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-20T09:31:32Z [214ms] [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)
+[0.252s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-09-20T09:31:32Z [242ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 570.124.06    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | add07dc3.. |
+|     |                                  |        |     |            | 1         |            |
+|=============================================================================================|
+| OS: 22.04.2 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.2, Kernel: 5.19.0-50-generic
+| Processor: 13th Gen Intel(R) Core(TM) i9-13900K
+| Bare Metal Cores: 24 | Bare Metal Logical Cores: 48
+| Available Cores:  32 
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 64036 | Free Memory: 46896
+| Total Page/Swap (MB): 2047 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-09-20T09:31:32Z [749ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+[0.907s] [ext: omni.materialx.libs-1.0.7] startup
+[0.913s] [ext: omni.kit.loop-isaac-1.3.7] startup
+[0.914s] [ext: omni.kit.test-2.0.1] startup
+[0.935s] [ext: omni.usd.config-1.0.6] startup
+[0.938s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[0.938s] [ext: omni.usd.libs-1.0.1] startup
+[1.034s] [ext: omni.kit.telemetry-0.5.2] startup
+[1.057s] [ext: omni.mdl-56.0.3] startup
+[1.074s] [ext: omni.iray.libs-0.0.0] startup
+[1.078s] [ext: omni.mdl.neuraylib-0.2.12] startup
+[1.080s] [ext: omni.kit.usd.mdl-1.1.5] startup
+[1.150s] [ext: omni.kit.pipapi-0.0.0] startup
+[1.151s] [ext: omni.appwindow-1.1.10] startup
+2026-09-20T09:31:33Z [1,116ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-20T09:31:33Z [1,116ms] [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)
+[1.154s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-09-20T09:31:33Z [1,129ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-20T09:31:33Z [1,129ms] [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)
+2026-09-20T09:31:33Z [1,135ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-20T09:31:33Z [1,135ms] [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)
+[1.173s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[1.174s] [ext: omni.kit.renderer.imgui-2.0.5] startup
+2026-09-20T09:31:33Z [1,140ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-20T09:31:33Z [1,140ms] [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)
+2026-09-20T09:31:33Z [1,141ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-20T09:31:33Z [1,141ms] [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)
+2026-09-20T09:31:33Z [1,142ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-20T09:31:33Z [1,142ms] [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)
+[1.223s] [ext: omni.ui-2.27.1] startup
+[1.231s] [ext: omni.kit.mainwindow-1.0.3] startup
+[1.232s] [ext: carb.audio-0.1.0] startup
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+[1.236s] [ext: omni.usd.schema.metrics.assembler-107.3.1] startup
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+[1.299s] [ext: omni.kit.commands-1.4.10] startup
+[1.303s] [ext: usdrt.scenegraph-7.6.1] startup
+[1.331s] [ext: omni.resourcemonitor-107.0.1] startup
+[1.332s] [ext: omni.kit.audiodeviceenum-1.0.2] startup
+[1.334s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
+[1.341s] [ext: omni.kit.usd_undo-0.1.8] startup
+[1.341s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[1.345s] [ext: omni.graph.exec-0.9.6] startup
+[1.345s] [ext: omni.timeline-1.0.14] startup
+[1.346s] [ext: omni.kit.widget.nucleus_connector-2.0.1] startup
+[1.348s] [ext: omni.kit.exec.core-0.13.4] startup
+[1.349s] [ext: omni.hydra.scene_delegate-0.3.4] startup
+[1.355s] [ext: omni.usd-1.13.10] startup
+[1.376s] [ext: omni.kit.asset_converter-5.0.17] startup
+[1.387s] [ext: omni.usd.schema.isaac-3.0.5] startup
+[1.387s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[1.394s] [ext: isaacsim.robot.schema-3.6.0] startup
+[1.402s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[1.407s] [ext: omni.usd.schema.flow-107.1.1] startup
+[1.408s] [ext: omni.usd.schema.omni_sensors-0.0.0] startup
+[1.408s] [ext: omni.usd.schema.physx-107.3.26] startup
+[1.435s] [ext: omni.inspect-1.0.2] startup
+[1.436s] [ext: omni.kit.notification_manager-1.0.10] startup
+[1.437s] [ext: omni.graph.core-2.184.5] startup
+[1.440s] [ext: isaacsim.core.deprecation_manager-0.2.7] startup
+[1.441s] [ext: omni.usd.schema.render_settings.rtx-0.0.0] startup
+[1.442s] [ext: omni.anim.graph.schema-107.3.3] startup
+[1.448s] [ext: omni.anim.navigation.schema-107.3.3] startup
+[1.451s] [ext: omni.kit.widget.path_field-2.0.11] startup
+[1.452s] [ext: omni.kit.viewport.legacy_gizmos-1.0.19] startup
+[1.455s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
+[1.456s] [ext: omni.kit.clipboard-1.0.5] startup
+[1.456s] [ext: omni.kit.usd.layers-2.2.11] startup
+[1.464s] [ext: omni.ui.scene-1.11.5] startup
+[1.468s] [ext: omni.index.libs-380600.8087.0] startup
+[1.468s] [ext: omni.kit.viewport.scene_camera_model-1.0.6] startup
+[1.474s] [ext: omni.index-1.0.1] startup
+[1.474s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[1.475s] [ext: omni.kit.widget.options_menu-1.1.6] startup
+[1.478s] [ext: omni.volume-0.5.2] startup
+[1.480s] [ext: omni.ujitso.client-0.0.0] startup
+[1.480s] [ext: omni.kit.helper.file_utils-0.1.9] startup
+[1.482s] [ext: omni.kit.menu.core-1.1.2] startup
+[1.482s] [ext: omni.hydra.rtx-1.0.0] startup
+2026-09-20T09:31:33Z [1,462ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[1.514s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[1.515s] [ext: omni.kit.widget.filebrowser-2.12.3] startup
+[1.519s] [ext: omni.kit.widget.context_menu-1.2.5] startup
+[1.520s] [ext: omni.kit.hydra_texture-1.4.6] startup
+[1.524s] [ext: omni.kit.window.filepicker-2.13.4] startup
+[1.535s] [ext: omni.kit.menu.utils-2.0.5] startup
+[1.544s] [ext: omni.kit.context_menu-1.8.6] startup
+[1.548s] [ext: omni.kit.widget.viewport-107.1.3] startup
+[1.553s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[1.554s] [ext: omni.kit.window.file_importer-1.1.18] startup
+[1.555s] [ext: omni.kit.raycast.query-1.1.0] startup
+[1.562s] [ext: omni.kit.material.library-2.0.7] startup
+[1.567s] [ext: omni.kit.window.drop_support-1.0.5] startup
+[1.567s] [ext: omni.hydra.engine.stats-1.0.3] startup
+[1.570s] [ext: omni.kit.viewport.window-107.2.0] startup
+[1.587s] [ext: omni.kit.widget.zoombar-1.0.6] startup
+[1.588s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[1.589s] [ext: omni.kit.widget.filter-1.1.4] startup
+[1.589s] [ext: omni.kit.window.file_exporter-1.0.33] startup
+[1.590s] [ext: omni.kit.hotkeys.core-1.3.10] startup
+[1.591s] [ext: omni.kit.browser.core-2.3.13] startup
+[1.594s] [ext: omni.kit.stage_template.core-1.1.22] startup
+[1.595s] [ext: omni.kit.widget.stage-3.1.4] startup
+[1.608s] [ext: omni.kit.browser.folder.core-1.10.9] startup
+[1.612s] [ext: omni.kit.window.file-2.0.5] startup
+[1.616s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[1.617s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[1.617s] [ext: omni.kit.usd.collect-2.4.5] startup
+[1.619s] [ext: omni.graph.tools-1.79.2] startup
+DEBUG:AutoNode:Defining data type 'any' as 'Any'
+DEBUG:AutoNode:Defining data type 'bool' as 'Bool' and array 'BoolArray
+DEBUG:AutoNode:Defining data type 'bundle' as 'Bundle'
+DEBUG:AutoNode:Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray
+DEBUG:AutoNode:Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray
+DEBUG:AutoNode:Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray
+DEBUG:AutoNode:Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray
+DEBUG:AutoNode:Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray
+DEBUG:AutoNode:Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray
+DEBUG:AutoNode:Defining data type 'double' as 'Double' and array 'DoubleArray
+DEBUG:AutoNode:Defining data type 'double[2]' as 'Double2' and array 'Double2Array
+DEBUG:AutoNode:Defining data type 'double[3]' as 'Double3' and array 'Double3Array
+DEBUG:AutoNode:Defining data type 'double[4]' as 'Double4' and array 'Double4Array
+DEBUG:AutoNode:Defining data type 'execution' as 'Execution'
+DEBUG:AutoNode:Defining data type 'float' as 'Float' and array 'FloatArray
+DEBUG:AutoNode:Defining data type 'float[2]' as 'Float2' and array 'Float2Array
+DEBUG:AutoNode:Defining data type 'float[3]' as 'Float3' and array 'Float3Array
+DEBUG:AutoNode:Defining data type 'float[4]' as 'Float4' and array 'Float4Array
+DEBUG:AutoNode:Defining data type 'frame[4]' as 'Frame' and array 'FrameArray
+DEBUG:AutoNode:Defining data type 'half' as 'Half' and array 'HalfArray
+DEBUG:AutoNode:Defining data type 'half[2]' as 'Half2' and array 'Half2Array
+DEBUG:AutoNode:Defining data type 'half[3]' as 'Half3' and array 'Half3Array
+DEBUG:AutoNode:Defining data type 'half[4]' as 'Half4' and array 'Half4Array
+DEBUG:AutoNode:Defining data type 'int' as 'Int' and array 'IntArray
+DEBUG:AutoNode:Defining data type 'int[2]' as 'Int2' and array 'Int2Array
+DEBUG:AutoNode:Defining data type 'int[3]' as 'Int3' and array 'Int3Array
+DEBUG:AutoNode:Defining data type 'int[4]' as 'Int4' and array 'Int4Array
+DEBUG:AutoNode:Defining data type 'int64' as 'Int64' and array 'Int64Array
+DEBUG:AutoNode:Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray
+DEBUG:AutoNode:Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray
+DEBUG:AutoNode:Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray
+DEBUG:AutoNode:Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray
+DEBUG:AutoNode:Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray
+DEBUG:AutoNode:Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray
+DEBUG:AutoNode:Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray
+DEBUG:AutoNode:Defining data type 'path' as 'Path'
+DEBUG:AutoNode:Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray
+DEBUG:AutoNode:Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray
+DEBUG:AutoNode:Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray
+DEBUG:AutoNode:Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray
+DEBUG:AutoNode:Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray
+DEBUG:AutoNode:Defining data type 'quath[4]' as 'Quath' and array 'QuathArray
+DEBUG:AutoNode:Defining data type 'string' as 'String'
+DEBUG:AutoNode:Defining data type 'target' as 'Target'
+DEBUG:AutoNode:Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray
+DEBUG:AutoNode:Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray
+DEBUG:AutoNode:Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray
+DEBUG:AutoNode:Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray
+DEBUG:AutoNode:Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray
+DEBUG:AutoNode:Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray
+DEBUG:AutoNode:Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray
+DEBUG:AutoNode:Defining data type 'token' as 'Token' and array 'TokenArray
+DEBUG:AutoNode:Defining data type 'uchar' as 'UChar' and array 'UCharArray
+DEBUG:AutoNode:Defining data type 'uint' as 'UInt' and array 'UIntArray
+DEBUG:AutoNode:Defining data type 'uint64' as 'UInt64' and array 'UInt64Array
+DEBUG:AutoNode:Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray
+DEBUG:AutoNode:Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray
+DEBUG:AutoNode:Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray
+[1.645s] [ext: omni.kit.window.content_browser-3.1.3] startup
+[1.653s] [ext: omni.kit.usdz_export-1.0.9] startup
+[1.655s] [ext: omni.graph.action_core-1.1.7] startup
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+[1.710s] [ext: omni.graph.action_nodes-1.50.4] startup
+[1.716s] [ext: omni.kit.window.stage-2.6.1] startup
+[1.725s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
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+[1.728s] [ext: omni.kit.menu.stage-1.2.7] startup
+[1.730s] [ext: omni.kit.widget.settings-1.2.6] startup
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+[1.739s] [ext: omni.kit.window.preferences-1.8.0] startup
+[1.755s] [ext: omni.kit.viewport.actions-107.0.2] startup
+[1.759s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[1.761s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[1.762s] [ext: omni.kit.viewport.menubar.core-107.2.1] startup
+[1.781s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[1.784s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
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+[1.790s] [ext: omni.ui_query-1.1.8] startup
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+[1.804s] [ext: omni.kit.menu.create-2.0.1] startup
+[1.805s] [ext: isaacsim.core.version-2.0.6] startup
+[1.807s] [ext: omni.kit.ui_test-1.3.7] startup
+[1.809s] [ext: omni.kit.scripting-107.3.2] startup
+[1.815s] [ext: omni.convexdecomposition-107.3.26] startup
+[1.821s] [ext: isaacsim.storage.native-1.5.1] startup
+[1.823s] [ext: omni.kit.widget.toolbar-2.0.1] startup
+[1.835s] [ext: omni.kit.manipulator.transform-107.0.0] startup
+[1.841s] [ext: omni.kvdb-107.3.26] startup
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+[1.850s] [ext: omni.localcache-107.3.26] startup
+[1.851s] [ext: omni.kit.window.extensions-1.4.27] startup
+[1.859s] [ext: omni.physx.cooking-107.3.26] startup
+[1.862s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[1.864s] [ext: omni.physx-107.3.26] startup
+[1.872s] [ext: omni.graph.visualization.nodes-2.1.3] startup
+[1.879s] [ext: isaacsim.replicator.behavior-1.1.16] startup
+[1.881s] [ext: omni.kit.tool.collect-2.2.18] startup
+[1.886s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
+[1.892s] [ext: omni.kit.manipulator.selector-1.1.3] startup
+[1.894s] [ext: isaacsim.gui.components-1.2.1] startup
+[1.897s] [ext: isaacsim.examples.browser-0.2.1] startup
+[1.900s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup
+[1.963s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[1.970s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[1.974s] [ext: omni.kit.manipulator.prim.core-107.0.8] startup
+[1.981s] [ext: omni.fabric.commands-1.1.6] startup
+[1.984s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[1.985s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[1.987s] [ext: omni.kit.widget.layers-1.8.6] startup
+[1.998s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[1.999s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[2.000s] [ext: omni.debugdraw-0.1.4] startup
+[2.004s] [ext: omni.physics-107.3.26] startup
+[2.006s] [ext: omni.usdphysics.ui-107.3.26] startup
+[2.026s] [ext: omni.physx.commands-107.3.26] startup
+[2.030s] [ext: omni.physics.stageupdate-107.3.26] startup
+[2.032s] [ext: omni.kit.window.toolbar-2.0.0] startup
+[2.034s] [ext: omni.physx.ui-107.3.26] startup
+[2.060s] [ext: omni.kit.widget.graph-2.0.0] startup
+[2.069s] [ext: omni.physx.supportui-107.3.26] startup
+[2.083s] [ext: omni.kit.graph.delegate.default-1.2.3] startup
+[2.085s] [ext: omni.kit.numpy.common-0.1.3] startup
+[2.086s] [ext: omni.usd.metrics.assembler-107.3.1] startup
+[2.091s] [ext: omni.physics.physx-107.3.26] startup
+2026-09-20T09:31:34Z [2,056ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[2.093s] [ext: omni.physics.tensors-107.3.26] startup
+[2.097s] [ext: omni.warp.core-1.8.2] startup
+[2.216s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
+[2.218s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-09-20T09:31:34Z [2,187ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[2.224s] [ext: omni.physx.tensors-107.3.26] startup
+[2.230s] [ext: isaacsim.core.utils-3.5.1] startup
+[2.233s] [ext: omni.graph.image.core-0.6.1] startup
+[2.236s] [ext: isaacsim.core.simulation_manager-1.4.4] startup
+[2.316s] [ext: omni.graph.image.nodes-1.3.1] startup
+[2.318s] [ext: omni.kit.stage_templates-2.0.0] startup
+[2.322s] [ext: isaacsim.core.prims-0.6.1] startup
+[2.354s] [ext: omni.syntheticdata-0.6.13] startup
+[2.366s] [ext: isaacsim.core.api-4.8.0] startup
+[2.385s] [ext: omni.videoencoding-0.1.2] startup
+[2.389s] [ext: isaacsim.core.experimental.utils-0.3.0] startup
+[2.391s] [ext: omni.kit.graph.editor.core-1.5.3] startup
+[2.395s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
+[2.397s] [ext: isaacsim.simulation_app-2.12.2] startup
+[2.398s] [ext: omni.graph.ui_nodes-1.50.5] startup
+[2.403s] [ext: omni.graph.nodes-1.170.10] startup
+[2.412s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[2.415s] [ext: isaacsim.test.docstring-1.1.0] startup
+[2.418s] [ext: omni.isaac.kit-2.0.6] startup
+2026-09-20T09:31:34Z [2,382ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
+[2.419s] [ext: isaacsim.robot_motion.lula-4.0.8] startup
+[2.425s] [ext: omni.warp-1.8.2] startup
+[2.432s] [ext: omni.kit.window.material_graph-1.9.1] startup
+[2.445s] [ext: omni.graph.scriptnode-1.50.0] startup
+[2.447s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup
+[2.474s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[2.548s] [ext: omni.replicator.core-1.12.27] startup
+2026-09-20T09:31:34Z [2,525ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.8.2 initialized:
+   CUDA Toolkit 12.8, Driver 12.8
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/david/.cache/warp/1.8.2
+2026-09-20T09:31:34Z [2,595ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-09-20T09:31:34Z [2,595ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-09-20T09:31:34Z [2,595ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[2.634s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup
+[2.638s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
+[2.644s] [ext: isaacsim.core.nodes-3.4.3] startup
+[2.651s] [ext: omni.isaac.lula_test_widget-1.0.6] startup
+2026-09-20T09:31:34Z [2,616ms] [Warning] [omni.isaac.lula_test_widget] omni.isaac.lula_test_widget has been deprecated in favor of isaacsim.robot_motion.lula_test_widget. Please update your code accordingly.
+[2.654s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[2.659s] [ext: isaacsim.core.experimental.objects-0.4.0] startup
+[2.685s] [ext: isaacsim.core.experimental.materials-0.4.0] startup
+[2.720s] [ext: isaacsim.core.throttling-2.2.2] startup
+[2.727s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup
+[2.732s] [ext: omni.flowusd-107.1.8] startup
+2026-09-20T09:31:34Z [2,700ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
+[2.754s] [ext: isaacsim.cortex.framework-1.0.12] startup
+[2.763s] [ext: omni.isaac.core_nodes-2.0.6] startup
+2026-09-20T09:31:34Z [2,769ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
+[2.807s] [ext: omni.isaac.cortex-1.0.5] startup
+2026-09-20T09:31:34Z [2,772ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
+[2.809s] [ext: omni.anim.curve.core-1.3.1] startup
+[2.834s] [ext: omni.isaac.franka-1.0.7] startup
+2026-09-20T09:31:35Z [2,812ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-20T09:31:35Z [2,819ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-20T09:31:35Z [2,879ms] [Warning] [omni.isaac.franka.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+[2.918s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
+[2.998s] [ext: omni.isaac.lula-4.0.6] startup
+2026-09-20T09:31:35Z [2,962ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
+[3.002s] [ext: omni.kit.selection-0.1.6] startup
+[3.028s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead.
+[3.080s] [ext: omni.isaac.manipulators-3.0.7] startup
+2026-09-20T09:31:35Z [3,044ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,044ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,045ms] [Warning] [omni.isaac.manipulators.controllers.pick_place_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,047ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,047ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,047ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,048ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,049ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,050ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,050ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+[3.088s] [ext: isaacsim.gui.menu-2.4.4] startup
+[3.112s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[3.127s] [ext: isaacsim.asset.browser-1.3.23] startup
+[3.140s] [ext: omni.isaac.menu-1.0.6] startup
+2026-09-20T09:31:35Z [3,106ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
+[3.146s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[3.154s] [ext: omni.isaac.motion_generation-8.0.7] startup
+2026-09-20T09:31:35Z [3,120ms] [Warning] [omni.isaac.motion_generation] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,120ms] [Warning] [omni.isaac.motion_generation.articulation_kinematics_solver] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,121ms] [Warning] [omni.isaac.motion_generation.articulation_motion_policy] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,123ms] [Warning] [omni.isaac.motion_generation.articulation_trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,123ms] [Warning] [omni.isaac.motion_generation.kinematics_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,125ms] [Warning] [omni.isaac.motion_generation.lula] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,126ms] [Warning] [omni.isaac.motion_generation.lula.kinematics] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,126ms] [Warning] [omni.isaac.motion_generation.lula.motion_policies] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,126ms] [Warning] [omni.isaac.motion_generation.lula.path_planners] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,127ms] [Warning] [omni.isaac.motion_generation.lula.trajectory_generator] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,127ms] [Warning] [omni.isaac.motion_generation.motion_policy_controller] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,127ms] [Warning] [omni.isaac.motion_generation.motion_policy_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,128ms] [Warning] [omni.isaac.motion_generation.path_planner_visualizer] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,128ms] [Warning] [omni.isaac.motion_generation.path_planning_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,129ms] [Warning] [omni.isaac.motion_generation.trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,129ms] [Warning] [omni.isaac.motion_generation.world_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+[3.166s] [ext: omni.isaac.asset_browser-1.0.6] startup
+2026-09-20T09:31:35Z [3,131ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.170s] [ext: omni.isaac.nucleus-1.0.6] startup
+2026-09-20T09:31:35Z [3,135ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,136ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+[3.173s] [ext: omni.isaac.quadruped-3.0.7] startup
+2026-09-20T09:31:35Z [3,137ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
+[3.174s] [ext: omni.isaac.assets_check-0.3.13] startup
+2026-09-20T09:31:35Z [3,140ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.179s] [ext: isaacsim.gui.content_browser-0.1.11] startup
+[3.186s] [ext: omni.isaac.utils-2.0.6] startup
+[3.189s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[3.207s] [ext: isaacsim.app.about-2.0.11] startup
+[3.211s] [ext: omni.isaac.version-2.0.7] startup
+2026-09-20T09:31:35Z [3,176ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
+[3.213s] [ext: isaacsim.cortex.behaviors-2.0.14] startup
+[3.216s] [ext: omni.isaac.wheeled_robots-3.0.7] startup
+2026-09-20T09:31:35Z [3,186ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,190ms] [Warning] [omni.isaac.wheeled_robots.controllers] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,190ms] [Warning] [omni.isaac.wheeled_robots.controllers.ackermann_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,191ms] [Warning] [omni.isaac.wheeled_robots.controllers.differential_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,192ms] [Warning] [omni.isaac.wheeled_robots.controllers.holonomic_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,192ms] [Warning] [omni.isaac.wheeled_robots.controllers.quintic_path_planner] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,193ms] [Warning] [omni.isaac.wheeled_robots.controllers.stanley_control] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,193ms] [Warning] [omni.isaac.wheeled_robots.controllers.wheel_base_pose_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,193ms] [Warning] [omni.isaac.wheeled_robots.impl] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,193ms] [Warning] [omni.isaac.wheeled_robots.robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,194ms] [Warning] [omni.isaac.wheeled_robots.robots.holonomic_robot_usd_setup] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,195ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+[3.232s] [ext: omni.isaac.window.about-2.0.7] startup
+2026-09-20T09:31:35Z [3,204ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,205ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly.
+[3.243s] [ext: omni.kit.manipulator.camera-106.0.4] startup
+[3.257s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup
+2026-09-20T09:31:35Z [3,221ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly.
+[3.258s] [ext: omni.sensors.nv.common-3.0.0] startup
+[3.274s] [ext: omni.kit.property.audio-1.0.16] startup
+[3.277s] [ext: omni.kit.property.camera-1.0.10] startup
+[3.278s] [ext: omni.sensors.net-1.0.0] startup
+[3.282s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[3.285s] [ext: omni.kit.property.geometry-2.0.4] startup
+[3.287s] [ext: omni.kit.property.light-1.0.12] startup
+[3.326s] [ext: omni.kit.property.material-1.11.9] startup
+[3.332s] [ext: omni.sensors.nv.ids-2.0.0] startup
+[3.334s] [ext: omni.sensors.nv.wpm-3.0.0] startup
+[3.335s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[3.339s] [ext: omni.hydra.scene_api-0.1.2] startup
+[3.346s] [ext: isaacsim.util.debug_draw-3.1.0] startup
+[3.349s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[3.352s] [ext: omni.kit.property.render-1.2.1] startup
+[3.353s] [ext: omni.kit.property.transform-1.5.13] startup
+[3.356s] [ext: isaacsim.gui.property-1.1.3] startup
+[3.358s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[3.363s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[3.369s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[3.376s] [ext: isaacsim.core.cloner-1.4.10] startup
+[3.380s] [ext: omni.kit.property.bundle-1.4.1] startup
+[3.382s] [ext: omni.kit.property.isaac-1.0.6] startup
+2026-09-20T09:31:35Z [3,346ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,346ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly.
+[3.383s] [ext: omni.isaac.range_sensor-4.0.6] startup
+2026-09-20T09:31:35Z [3,347ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,347ms] [Warning] [omni.isaac.range_sensor.commands] omni.isaac.range_sensor.commands has been deprecated in favor of isaacsim.sensors.physx.commands. Please update your code accordingly.
+[3.384s] [ext: isaacsim.replicator.writers-1.0.17] startup
+[3.398s] [ext: omni.isaac.sensor-13.0.7] startup
+2026-09-20T09:31:35Z [3,363ms] [Warning] [omni.isaac.sensor] omni.isaac.sensor has been deprecated in favor of isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, and isaacsim.sensors.rtx. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,363ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,363ms] [Warning] [omni.isaac.sensor.camera_view] omni.isaac.sensor.camera_view has been deprecated in favor of isaacsim.sensors.camera.camera_view. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,363ms] [Warning] [omni.isaac.sensor.commands] omni.isaac.sensor.commands has been deprecated in favor of isaacsim.sensors.physics.commands, isaacsim.sensors.physx.commands, and isaacsim.sensors.rtx.commands. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,363ms] [Warning] [omni.isaac.sensor.contact_sensor] omni.isaac.sensor.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.contact_sensor. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,364ms] [Warning] [omni.isaac.sensor.imu_sensor] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.imu_sensor. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,364ms] [Warning] [omni.isaac.sensor.lidar_rtx] omni.isaac.sensor.lidar_rtx has been deprecated in favor of isaacsim.sensors.rtx.lidar_rtx. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,364ms] [Warning] [omni.isaac.sensor.rotating_lidar_physX] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physix.rotating_lidar_physX. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,365ms] [Warning] [omni.isaac.sensor.scripts.samples.contact_sensor] omni.isaac.sensor.scripts.samples.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.contact_sensor. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,365ms] [Warning] [omni.isaac.sensor.scripts.samples.imu_sensor] omni.isaac.sensor.scripts.samples.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.imu_sensor. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,365ms] [Warning] [omni.isaac.sensor.scripts.samples.lightbeam_sensor] omni.isaac.sensor.scripts.samples.lightbeam_sensor has been deprecated in favor of isaacsim.sensors.physx.scripts.samples.lightbeam_sensor. Please update your code accordingly.
+[3.402s] [ext: omni.isaac.cloner-1.0.7] startup
+2026-09-20T09:31:35Z [3,367ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
+[3.409s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[3.414s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[3.417s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup
+[3.419s] [ext: isaacsim.replicator.examples-1.3.6] startup
+[3.421s] [ext: omni.ocio-0.1.1] startup
+[3.423s] [ext: omni.rtx.window.settings-0.6.19] startup
+[3.434s] [ext: omni.kit.window.console-1.1.4] startup
+[3.439s] [ext: omni.kit.window.status_bar-0.1.9] startup
+[3.443s] [ext: omni.replicator.isaac-2.0.8] startup
+2026-09-20T09:31:35Z [3,407ms] [Warning] [omni.replicator.isaac] omni.replicator.isaac has been deprecated in favor of isaacsim.replicator.domain_randomization, isaacsim.replicator.examples, isaacsim.replicator.writers. Please update your code accordingly.
+[3.443s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
+[3.448s] [ext: omni.rtx.settings.core-0.6.5] startup
+[3.451s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[3.460s] [ext: omni.isaac.surface_gripper-2.0.6] startup
+2026-09-20T09:31:35Z [3,424ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
+[3.461s] [ext: semantics.schema.editor-2.0.2] startup
+[3.465s] [ext: omni.kit.ui.actions-1.0.5] startup
+[3.466s] [ext: semantics.schema.property-2.0.1] startup
+[3.467s] [ext: omni.isaac.universal_robots-1.0.6] startup
+2026-09-20T09:31:35Z [3,431ms] [Warning] [omni.isaac.universal_robots] omni.isaac.universal_robots has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,431ms] [Warning] [omni.isaac.universal_robots.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,432ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+[3.469s] [ext: omni.isaac.core-4.0.7] startup
+2026-09-20T09:31:35Z [3,434ms] [Warning] [omni.isaac.core.physics_context.physics_context] omni.isaac.core.physics_context.physics_context has been deprecated in favor of isaacsim.core.api.physics_context.physics_context. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,434ms] [Warning] [omni.isaac.core.simulation_context.simulation_context] omni.isaac.core.simulation_context.simulation_context has been deprecated in favor of isaacsim.core.api.simulation_context.simulation_context. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,434ms] [Warning] [omni.isaac.core.world.world] omni.isaac.core.world.world has been deprecated in favor of isaacsim.core.api.world.world. Please update your code accordingly.
+2026-09-20T09:31:35Z [3,434ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
+[3.471s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup
+[3.479s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[3.485s] [ext: omni.kit.menu.common-2.0.1] startup
+[3.487s] [ext: isaacsim.exp.base-5.1.0] startup
+[3.487s] [ext: omnigibson_5_1_0-3.9.2] startup
+[3.488s] Simulation App Starting
+2026-09-20T09:31:35Z [3,496ms] [Warning] [omni.kvdb.plugin] Disabling key-value database because another kit process is locking it
+2026-09-20T09:31:35Z [3,517ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[3.640s] app ready
+[5.552s] Simulation App Startup Complete
+[5.948s] [ext: omni.physx.fabric-107.3.26] startup
+2026-09-20T09:31:38Z [6,028ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors
+
+2026-09-20T09:31:39Z [6,911ms] [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.
+
+                   ____________
+                  /          / \
+                 /          / /__
+                /          / /  /\
+               /__________/ /__/  \
+               \   _____  \ \__\  /
+                \  \  / \  \ \_/ /
+                 \  \/___\  \   /
+                  \__________\_/  
+       ___                  _  ____ _ _                     
+      / _ \ _ __ ___  _ __ (_)/ ___(_) |__  ___  ___  _ __  
+     | | | | '_ ` _ \| '_ \| | |  _| | '_ \/ __|/ _ \| '_ \ 
+     | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | |
+      \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_|
+
+[00:00:10.564] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ----------
+[00:00:10.776] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check.
+2026-09-20T09:32:33Z [61,747ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-20T09:32:36Z [63,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [63,941ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [63,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [63,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [63,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [63,942ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,057ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,087ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,087ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,120ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,120ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,120ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,120ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,151ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,151ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,152ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,152ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,180ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,180ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,213ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,213ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,213ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,213ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,213ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,213ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,219ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:36Z [64,219ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,826ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,826ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,827ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,827ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,852ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,853ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,870ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,870ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,874ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,874ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,879ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,879ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,884ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,884ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,890ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,890ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,895ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [64,895ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,035ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,035ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,036ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,036ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,307ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,307ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,307ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,307ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,329ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,329ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,330ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,414ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-20T09:32:37Z [65,415ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-20T09:32:38Z [66,249ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
+[00:01:10.168] [INFO] [omnigibson.simulator] Imported scene 0.
+[00:01:10.207] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot
+2026-09-20T09:32:46Z [74,049ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300.
+[00:01:18.343] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time.
+[00:01:18.345] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time.
+2026-09-20T09:32:46Z [74,727ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-20T09:32:46Z [74,728ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-20T09:32:46Z [74,729ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-20T09:32:46Z [74,730ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-20T09:32:49Z [77,258ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-09-20T09:32:51Z [79,514ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint
+2026-09-20T09:32:54Z [82,417ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint
+2026-09-20T09:32:58Z [86,482ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+RECOVERY progress 120 human_carry_pose_for_pick {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 360 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 480 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+2026-09-20T09:35:35Z [243,685ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint
+RECOVERY progress 600 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 720 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 840 orient_bin_for_gravity {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 960 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1080 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': False, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1200 retract_hand_after_release {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 1320 human_carry_pose_for_pick {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 1440 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 1560 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 1680 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 1800 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': None, 'right': 'trash_can_116'}
+2026-09-20T09:39:38Z [486,431ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint
+RECOVERY progress 1920 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2040 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2160 orient_bin_for_gravity {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2280 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2400 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': False} {'left': 'can_of_soda_113', 'right': 'trash_can_116'}
+RECOVERY progress 2520 retract_hand_after_release {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_2': True, 'can__of__soda.n.01_3': True} {'left': None, 'right': 'trash_can_116'}
+GEOMETRY_QA False 0
+2026-09-20T09:41:08Z [576,360ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-20T09:41:08Z [576,360ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-20T09:41:08Z [576,360ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+[576.497s] Simulation App Shutting Down

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/attempt_001/supervision_mask.npy

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+  "geometry_audit_version": 3,
+  "scope": "Conservative torso/base spheres, including the configured base padding; not actual mesh penetration.",
+  "source_handoff_end": 3,
+  "source_overlap_limit_m": 0.01,
+  "inherited_overlap_limit_m": null,
+  "generated_ancestor_envelopes": [],
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+}

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+{
+  "case_id": "vla-episode_00019350-f001350",
+  "kind": "vla",
+  "episode_id": "00019350",
+  "instance_id": 935,
+  "source_n_steps": 10536,
+  "seed_rank": 0,
+  "n_seeds_in_episode": 3,
+  "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019350.hdf5",
+  "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019350.json",
+  "frame": 1350,
+  "start_type": "judgement_seed",
+  "chunk_index": 1,
+  "chunk_span": [
+    680,
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+  "reason": "By f1350 the can achieved Inside(can_of_soda_115, trash_can_116). Can was picked from floor f1208-1221, carried to trash can, and successfully placed Inside at f1350. Gripper released at f1377 and can regressed to OnTop at f1379. Progress stopped at f1350 when goal predicate was achieved; regression occurred during gripper withdrawal."
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001350/complete.json

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+  "episode_id": "00019350",
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+  "start_type": "judgement_seed",
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+  "attempt": "attempt_001",
+  "completed_at": "2026-09-20T09:43:09+00:00",
+  "success": true,
+  "status": "completed",
+  "error": null,
+  "teacher_steps": 2585,
+  "dataset_frames": 2439,
+  "dataset_passed": true,
+  "supervised_frames": 2436,
+  "dataset_root": "runs/vla-episode_00019350-f001350/attempt_001/dataset",
+  "video": "runs/vla-episode_00019350-f001350/attempt_001/video.mp4",
+  "initial_inside": 1,
+  "final_inside": 3,
+  "initial_held": {
+    "left": null,
+    "right": "trash_can_116"
+  },
+  "already_complete_at_start": false,
+  "model_call_count": 0,
+  "export": "ok",
+  "export_wall_seconds": 110
+}

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+    {
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+  ],
+  "composite_video": {
+    "video": "video.mp4",
+    "frames": 1331,
+    "fps": 30,
+    "decoded_frames": 1331,
+    "sha256": "58907376ac2d62cdcc476c86b8d89b52ff6d46891b21d59fa3be3b0a28e87dec"
+  },
+  "videos": {
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+      "bytes": 1160449
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+    },
+    "observation.depth_linear.left_realsense_link_camera_0": {
+      "bytes": 1119077
+    }
+  },
+  "export_seconds": 50.6,
+  "case": {
+    "case_id": "vla-episode_00019350-f001992",
+    "kind": "vla",
+    "episode_id": "00019350",
+    "instance_id": 935,
+    "source_n_steps": 10536,
+    "seed_rank": 1,
+    "n_seeds_in_episode": 3,
+    "path": "/media/david/HDD/B1k_Rollouts/trajectories/task-0001/episode_00019350.hdf5",
+    "meta": "/media/david/HDD/B1k_Rollouts/meta/task-0001/episodes/episode_00019350.json",
+    "frame": 1992,
+    "start_type": "judgement_seed",
+    "chunk_index": 2,
+    "chunk_span": [
+      1378,
+      1993
+    ],
+    "reason": "By f1992 the second can achieved Inside(can_of_soda_113, trash_can_116). Can was picked from floor f1792-1808, carried to trash can, and placed Inside at f1992. Gripper released at f1991 (1 frame prior) and can regressed to OnTop at f1993. Progress stopped at f1992 when placement succeeded; immediate regression on release."
+  }
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/export.log

@@ -0,0 +1,4 @@
+/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/lerobot/datasets/compute_stats.py:161: RuntimeWarning: Converting input from bool to <class 'numpy.uint8'> for compatibility.
+  hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i])
+
+{"passed": true, "frames": 1331, "success": true, "export_seconds": 50.6, "slim": {"bytes_before": 8660265380, "bytes_after": 23323679}}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/outcome.json

@@ -0,0 +1,195 @@
+{
+  "success": true,
+  "training_eligible": false,
+  "status": "completed",
+  "run_configuration": {
+    "max_steps": 7902,
+    "resolution": 0,
+    "navigation_health_guard": true,
+    "curobo_fallback": false,
+    "rejoin_human_carry": false,
+    "ground_blocked_deposit": true,
+    "torso_collision_guard": true,
+    "self_collision_limits": "/media/david/HDD/gpt6_b1k/task01_human_first_recovery/manifests/self_collision_limits_v2.json",
+    "released_can_recovery": true,
+    "pose_window_settling": false,
+    "recenter_bin_for_rotation": false,
+    "guard_soft_envelope": false,
+    "flexible_can_wrist": true,
+    "preserve_fitting_can": false,
+    "refine_drop_alignment": false,
+    "avoid_grounded_bin": false,
+    "grounded_rim_recovery": true
+  },
+  "initial_task": {
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+      "can__of__soda.n.01_3": true,
+      "can__of__soda.n.01_2": false
+    },
+    "success": false,
+    "goal_status": {
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+      "unsatisfied": [
+        0
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+      "right": "trash_can_116"
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+    "returncode": 0,
+    "wall_seconds": 360
+  }
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/run.log

@@ -0,0 +1,627 @@
+RECOVERY building environment
+[00:00:03.660] [INFO] [omnigibson.simulator] ----- Starting OmniGibson. This will take 10-30 seconds... -----
+Starting kit application with the following args:  ['/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts/isaacsim.simulation_app/isaacsim/simulation_app/simulation_app.py', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps/omnigibson_5_1_0.kit', '--/app/tokens/exe-path=/home/david/anaconda3/envs/behavior/lib/python3.11/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', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/exts', '--ext-folder', '/home/david/anaconda3/envs/behavior/lib/python3.11/site-packages/isaacsim/apps', '--/physics/cudaDevice=0', '--/plugins/carb.tasking.plugin/threadCount=32', '--/plugins/omni.tbb.globalcontrol/maxThreadCount=32', '--no-window', '--/app/window/hideUi=1']
+Passing the following args to the base kit application:  ['--portable-root', '/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local', '--/app/tokens/omni_global_cache=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/cache', '--/app/tokens/omni_global_data=/media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/global/data']
+[Info] [carb] Logging to file: /media/david/HDD/gpt6_b1k/task01_human_first_recovery/appdata/local/logs/Kit/OmniGibson/3.9/kit_20260921_223207.log
+[0.040s] [ext: omni.kit.async_engine-0.0.3] startup
+DEBUG:asyncio:Using selector: EpollSelector
+[0.091s] [ext: omni.metrics.core-0.0.3] startup
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+2026-09-21T14:32:07Z [181ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T14:32:07Z [181ms] [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)
+[0.199s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-09-21T14:32:07Z [207ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 570.124.06    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
+|     |                                  |        |     |            | 2684      | add07dc3.. |
+|     |                                  |        |     |            | 1         |            |
+|=============================================================================================|
+| OS: 22.04.2 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.2, Kernel: 5.19.0-50-generic
+| Processor: 13th Gen Intel(R) Core(TM) i9-13900K
+| Bare Metal Cores: 24 | Bare Metal Logical Cores: 48
+| Available Cores:  32 
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 64036 | Free Memory: 46957
+| Total Page/Swap (MB): 2047 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-09-21T14:32:08Z [878ms] [Warning] [gpu.foundation.plugin] CPU performance profile is set to powersave. This profile sets the CPU to the lowest frequency reducing performance.
+[1.019s] [ext: omni.materialx.libs-1.0.7] startup
+[1.024s] [ext: omni.kit.loop-isaac-1.3.7] startup
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+2026-09-21T14:32:08Z [1,243ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T14:32:08Z [1,243ms] [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)
+[1.262s] [ext: omni.kit.renderer.core-1.1.0] startup
+2026-09-21T14:32:09Z [1,927ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T14:32:09Z [1,927ms] [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)
+2026-09-21T14:32:09Z [1,933ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T14:32:09Z [1,933ms] [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)
+[1.952s] [ext: omni.kit.renderer.capture-0.0.0] startup
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+2026-09-21T14:32:09Z [1,939ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T14:32:09Z [1,939ms] [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)
+2026-09-21T14:32:09Z [1,940ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T14:32:09Z [1,940ms] [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)
+2026-09-21T14:32:09Z [1,940ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-09-21T14:32:09Z [1,941ms] [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)
+[2.000s] [ext: omni.ui-2.27.1] startup
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+2026-09-21T14:32:09Z [2,236ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[2.272s] [ext: omni.kit.widget.options_button-1.0.3] startup
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+[2.381s] [ext: omni.graph.tools-1.79.2] startup
+DEBUG:AutoNode:Defining data type 'any' as 'Any'
+DEBUG:AutoNode:Defining data type 'bool' as 'Bool' and array 'BoolArray
+DEBUG:AutoNode:Defining data type 'bundle' as 'Bundle'
+DEBUG:AutoNode:Defining data type 'colord[3]' as 'Color3d' and array 'Color3dArray
+DEBUG:AutoNode:Defining data type 'colorf[3]' as 'Color3f' and array 'Color3fArray
+DEBUG:AutoNode:Defining data type 'colorh[3]' as 'Color3h' and array 'Color3hArray
+DEBUG:AutoNode:Defining data type 'colord[4]' as 'Color4d' and array 'Color4dArray
+DEBUG:AutoNode:Defining data type 'colorf[4]' as 'Color4f' and array 'Color4fArray
+DEBUG:AutoNode:Defining data type 'colorh[4]' as 'Color4h' and array 'Color4hArray
+DEBUG:AutoNode:Defining data type 'double' as 'Double' and array 'DoubleArray
+DEBUG:AutoNode:Defining data type 'double[2]' as 'Double2' and array 'Double2Array
+DEBUG:AutoNode:Defining data type 'double[3]' as 'Double3' and array 'Double3Array
+DEBUG:AutoNode:Defining data type 'double[4]' as 'Double4' and array 'Double4Array
+DEBUG:AutoNode:Defining data type 'execution' as 'Execution'
+DEBUG:AutoNode:Defining data type 'float' as 'Float' and array 'FloatArray
+DEBUG:AutoNode:Defining data type 'float[2]' as 'Float2' and array 'Float2Array
+DEBUG:AutoNode:Defining data type 'float[3]' as 'Float3' and array 'Float3Array
+DEBUG:AutoNode:Defining data type 'float[4]' as 'Float4' and array 'Float4Array
+DEBUG:AutoNode:Defining data type 'frame[4]' as 'Frame' and array 'FrameArray
+DEBUG:AutoNode:Defining data type 'half' as 'Half' and array 'HalfArray
+DEBUG:AutoNode:Defining data type 'half[2]' as 'Half2' and array 'Half2Array
+DEBUG:AutoNode:Defining data type 'half[3]' as 'Half3' and array 'Half3Array
+DEBUG:AutoNode:Defining data type 'half[4]' as 'Half4' and array 'Half4Array
+DEBUG:AutoNode:Defining data type 'int' as 'Int' and array 'IntArray
+DEBUG:AutoNode:Defining data type 'int[2]' as 'Int2' and array 'Int2Array
+DEBUG:AutoNode:Defining data type 'int[3]' as 'Int3' and array 'Int3Array
+DEBUG:AutoNode:Defining data type 'int[4]' as 'Int4' and array 'Int4Array
+DEBUG:AutoNode:Defining data type 'int64' as 'Int64' and array 'Int64Array
+DEBUG:AutoNode:Defining data type 'matrixd[2]' as 'Matrix2d' and array 'Matrix2dArray
+DEBUG:AutoNode:Defining data type 'matrixd[3]' as 'Matrix3d' and array 'Matrix3dArray
+DEBUG:AutoNode:Defining data type 'matrixd[4]' as 'Matrix4d' and array 'Matrix4dArray
+DEBUG:AutoNode:Defining data type 'normald[3]' as 'Normal3d' and array 'Normal3dArray
+DEBUG:AutoNode:Defining data type 'normalf[3]' as 'Normal3f' and array 'Normal3fArray
+DEBUG:AutoNode:Defining data type 'normalh[3]' as 'Normal3h' and array 'Normal3hArray
+DEBUG:AutoNode:Defining data type 'objectId' as 'ObjectId' and array 'ObjectIdArray
+DEBUG:AutoNode:Defining data type 'path' as 'Path'
+DEBUG:AutoNode:Defining data type 'pointd[3]' as 'Point3d' and array 'Point3dArray
+DEBUG:AutoNode:Defining data type 'pointf[3]' as 'Point3f' and array 'Point3fArray
+DEBUG:AutoNode:Defining data type 'pointh[3]' as 'Point3h' and array 'Point3hArray
+DEBUG:AutoNode:Defining data type 'quatd[4]' as 'Quatd' and array 'QuatdArray
+DEBUG:AutoNode:Defining data type 'quatf[4]' as 'Quatf' and array 'QuatfArray
+DEBUG:AutoNode:Defining data type 'quath[4]' as 'Quath' and array 'QuathArray
+DEBUG:AutoNode:Defining data type 'string' as 'String'
+DEBUG:AutoNode:Defining data type 'target' as 'Target'
+DEBUG:AutoNode:Defining data type 'texcoordd[2]' as 'TexCoord2d' and array 'TexCoord2dArray
+DEBUG:AutoNode:Defining data type 'texcoordf[2]' as 'TexCoord2f' and array 'TexCoord2fArray
+DEBUG:AutoNode:Defining data type 'texcoordh[2]' as 'TexCoord2h' and array 'TexCoord2hArray
+DEBUG:AutoNode:Defining data type 'texcoordd[3]' as 'TexCoord3d' and array 'TexCoord3dArray
+DEBUG:AutoNode:Defining data type 'texcoordf[3]' as 'TexCoord3f' and array 'TexCoord3fArray
+DEBUG:AutoNode:Defining data type 'texcoordh[3]' as 'TexCoord3h' and array 'TexCoord3hArray
+DEBUG:AutoNode:Defining data type 'timecode' as 'Timecode' and array 'TimecodeArray
+DEBUG:AutoNode:Defining data type 'token' as 'Token' and array 'TokenArray
+DEBUG:AutoNode:Defining data type 'uchar' as 'UChar' and array 'UCharArray
+DEBUG:AutoNode:Defining data type 'uint' as 'UInt' and array 'UIntArray
+DEBUG:AutoNode:Defining data type 'uint64' as 'UInt64' and array 'UInt64Array
+DEBUG:AutoNode:Defining data type 'vectord[3]' as 'Vector3d' and array 'Vector3dArray
+DEBUG:AutoNode:Defining data type 'vectorf[3]' as 'Vector3f' and array 'Vector3fArray
+DEBUG:AutoNode:Defining data type 'vectorh[3]' as 'Vector3h' and array 'Vector3hArray
+[2.406s] [ext: omni.kit.window.content_browser-3.1.3] startup
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+[2.484s] [ext: omni.kit.window.stage-2.6.1] startup
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+[2.562s] [ext: omni.kit.menu.create-2.0.1] startup
+[2.564s] [ext: isaacsim.core.version-2.0.6] startup
+[2.565s] [ext: omni.kit.ui_test-1.3.7] startup
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+[2.572s] [ext: isaacsim.storage.native-1.5.1] startup
+[2.573s] [ext: omni.kit.widget.toolbar-2.0.1] startup
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+[2.593s] [ext: omni.physx.cooking-107.3.26] startup
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+[2.604s] [ext: omni.graph.visualization.nodes-2.1.3] startup
+[2.608s] [ext: isaacsim.replicator.behavior-1.1.16] startup
+[2.610s] [ext: omni.kit.tool.collect-2.2.18] startup
+[2.614s] [ext: omni.kit.manipulator.tool.snap-1.5.13] startup
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+[2.623s] [ext: isaacsim.gui.components-1.2.1] startup
+[2.625s] [ext: isaacsim.examples.browser-0.2.1] startup
+[2.628s] [ext: isaacsim.asset.importer.urdf-2.4.30] startup
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+[2.800s] [ext: omni.physics.physx-107.3.26] startup
+2026-09-21T14:32:10Z [2,784ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::physx::IPhysxBenchmarks v1.0] (plugin: <default plugin>), by client: omni.physics.physx.plugin. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
+[2.802s] [ext: omni.physics.tensors-107.3.26] startup
+[2.805s] [ext: omni.warp.core-1.8.2] startup
+[2.917s] [ext: omni.usd.metrics.assembler.physics-107.3.26] startup
+[2.919s] [ext: omni.isaac.dynamic_control-2.0.7] startup
+2026-09-21T14:32:10Z [2,906ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[2.924s] [ext: omni.physx.tensors-107.3.26] startup
+[2.929s] [ext: isaacsim.core.utils-3.5.1] startup
+[2.933s] [ext: omni.graph.image.core-0.6.1] startup
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+[3.035s] [ext: omni.syntheticdata-0.6.13] startup
+[3.048s] [ext: isaacsim.core.api-4.8.0] startup
+[3.061s] [ext: omni.videoencoding-0.1.2] startup
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+[3.067s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
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+[3.069s] [ext: omni.graph.ui_nodes-1.50.5] startup
+[3.072s] [ext: omni.graph.nodes-1.170.10] startup
+[3.082s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[3.084s] [ext: isaacsim.test.docstring-1.1.0] startup
+[3.087s] [ext: omni.isaac.kit-2.0.6] startup
+2026-09-21T14:32:10Z [3,070ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
+[3.088s] [ext: isaacsim.robot_motion.lula-4.0.8] startup
+[3.103s] [ext: omni.warp-1.8.2] startup
+[3.107s] [ext: omni.kit.window.material_graph-1.9.1] startup
+[3.122s] [ext: omni.graph.scriptnode-1.50.0] startup
+[3.127s] [ext: isaacsim.robot_motion.motion_generation-8.0.26] startup
+[3.156s] [ext: isaacsim.core.experimental.prims-0.8.1] startup
+[3.229s] [ext: omni.replicator.core-1.12.27] startup
+2026-09-21T14:32:10Z [3,235ms] [Warning] [pxr.Semantics] pxr.Semantics is deprecated - please use Semantics instead
+Warp 1.8.2 initialized:
+   CUDA Toolkit 12.8, Driver 12.8
+   Devices:
+     "cpu"      : "x86_64"
+     "cuda:0"   : "NVIDIA GeForce RTX 4090" (24 GiB, sm_89, mempool enabled)
+   Kernel cache:
+     /home/david/.cache/warp/1.8.2
+2026-09-21T14:32:11Z [3,310ms] [Warning] [omni.graph.core.plugin] Found duplicate of category 'Replicator' - was 'Annotators', adding 'Fabric Reader'
+2026-09-21T14:32:11Z [3,310ms] [Warning] [omni.graph.core.plugin] Category 'Replicator' not accepted on node type 'omni.replicator.core.FabricReader' in extension 'omni.replicator.core'
+2026-09-21T14:32:11Z [3,310ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[3.330s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.12] startup
+[3.335s] [ext: isaacsim.robot.surface_gripper-3.3.1] startup
+[3.344s] [ext: isaacsim.core.nodes-3.4.3] startup
+[3.355s] [ext: omni.isaac.lula_test_widget-1.0.6] startup
+2026-09-21T14:32:11Z [3,341ms] [Warning] [omni.isaac.lula_test_widget] omni.isaac.lula_test_widget has been deprecated in favor of isaacsim.robot_motion.lula_test_widget. Please update your code accordingly.
+[3.359s] [ext: isaacsim.robot.manipulators-3.3.6] startup
+[3.367s] [ext: isaacsim.core.experimental.objects-0.4.0] startup
+[3.404s] [ext: isaacsim.core.experimental.materials-0.4.0] startup
+[3.427s] [ext: isaacsim.core.throttling-2.2.2] startup
+[3.436s] [ext: isaacsim.robot.manipulators.examples-1.1.2] startup
+[3.452s] [ext: omni.flowusd-107.1.8] startup
+2026-09-21T14:32:11Z [3,449ms] [Warning] [omni.stageupdate.plugin] Deprecated: direct use of IStageUpdate callbacks is deprecated. Use IStageUpdate::getStageUpdate instead.
+[3.519s] [ext: isaacsim.cortex.framework-1.0.12] startup
+[3.522s] [ext: omni.isaac.core_nodes-2.0.6] startup
+2026-09-21T14:32:11Z [3,508ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
+[3.527s] [ext: omni.isaac.cortex-1.0.5] startup
+2026-09-21T14:32:11Z [3,513ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
+[3.531s] [ext: omni.anim.curve.core-1.3.1] startup
+[3.659s] [ext: omni.isaac.franka-1.0.7] startup
+2026-09-21T14:32:11Z [3,643ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,644ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+Warp DeprecationWarning: The `warp.sim` module is deprecated and will be removed in v1.10. Please transition to using the forthcoming Newton library instead.
+2026-09-21T14:32:11Z [3,715ms] [Warning] [omni.isaac.franka.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+[3.733s] [ext: omni.kit.viewport.menubar.camera-107.0.6] startup
+[3.746s] [ext: omni.isaac.lula-4.0.6] startup
+2026-09-21T14:32:11Z [3,729ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
+[3.748s] [ext: omni.kit.selection-0.1.6] startup
+[3.751s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[3.758s] [ext: omni.isaac.manipulators-3.0.7] startup
+2026-09-21T14:32:11Z [3,741ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,741ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,741ms] [Warning] [omni.isaac.manipulators.controllers.pick_place_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,742ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,742ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,742ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,742ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,743ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,743ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,743ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+[3.761s] [ext: isaacsim.gui.menu-2.4.4] startup
+[3.785s] [ext: isaacsim.sensors.physics-0.4.3] startup
+[3.797s] [ext: isaacsim.asset.browser-1.3.23] startup
+[3.801s] [ext: omni.isaac.menu-1.0.6] startup
+2026-09-21T14:32:11Z [3,785ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
+[3.803s] [ext: isaacsim.robot.policy.examples-4.1.11] startup
+[3.807s] [ext: omni.isaac.motion_generation-8.0.7] startup
+2026-09-21T14:32:11Z [3,791ms] [Warning] [omni.isaac.motion_generation] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,791ms] [Warning] [omni.isaac.motion_generation.articulation_kinematics_solver] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,791ms] [Warning] [omni.isaac.motion_generation.articulation_motion_policy] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,792ms] [Warning] [omni.isaac.motion_generation.articulation_trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,792ms] [Warning] [omni.isaac.motion_generation.kinematics_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,792ms] [Warning] [omni.isaac.motion_generation.lula] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,793ms] [Warning] [omni.isaac.motion_generation.lula.kinematics] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,796ms] [Warning] [omni.isaac.motion_generation.lula.motion_policies] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,796ms] [Warning] [omni.isaac.motion_generation.lula.path_planners] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,797ms] [Warning] [omni.isaac.motion_generation.lula.trajectory_generator] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,797ms] [Warning] [omni.isaac.motion_generation.motion_policy_controller] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,797ms] [Warning] [omni.isaac.motion_generation.motion_policy_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,797ms] [Warning] [omni.isaac.motion_generation.path_planner_visualizer] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,799ms] [Warning] [omni.isaac.motion_generation.path_planning_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,800ms] [Warning] [omni.isaac.motion_generation.trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,800ms] [Warning] [omni.isaac.motion_generation.world_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+[3.818s] [ext: omni.isaac.asset_browser-1.0.6] startup
+2026-09-21T14:32:11Z [3,802ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.822s] [ext: omni.isaac.nucleus-1.0.6] startup
+2026-09-21T14:32:11Z [3,807ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,807ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+[3.825s] [ext: omni.isaac.quadruped-3.0.7] startup
+2026-09-21T14:32:11Z [3,810ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
+[3.829s] [ext: omni.isaac.assets_check-0.3.13] startup
+2026-09-21T14:32:11Z [3,813ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[3.832s] [ext: isaacsim.gui.content_browser-0.1.11] startup
+[3.838s] [ext: omni.isaac.utils-2.0.6] startup
+[3.840s] [ext: isaacsim.robot.wheeled_robots-4.0.24] startup
+[3.847s] [ext: isaacsim.app.about-2.0.11] startup
+[3.850s] [ext: omni.isaac.version-2.0.7] startup
+2026-09-21T14:32:11Z [3,833ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
+[3.851s] [ext: isaacsim.cortex.behaviors-2.0.14] startup
+[3.852s] [ext: omni.isaac.wheeled_robots-3.0.7] startup
+2026-09-21T14:32:11Z [3,836ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,838ms] [Warning] [omni.isaac.wheeled_robots.controllers] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,838ms] [Warning] [omni.isaac.wheeled_robots.controllers.ackermann_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,839ms] [Warning] [omni.isaac.wheeled_robots.controllers.differential_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,842ms] [Warning] [omni.isaac.wheeled_robots.controllers.holonomic_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,842ms] [Warning] [omni.isaac.wheeled_robots.controllers.quintic_path_planner] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,843ms] [Warning] [omni.isaac.wheeled_robots.controllers.stanley_control] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,843ms] [Warning] [omni.isaac.wheeled_robots.controllers.wheel_base_pose_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,843ms] [Warning] [omni.isaac.wheeled_robots.impl] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,843ms] [Warning] [omni.isaac.wheeled_robots.robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,843ms] [Warning] [omni.isaac.wheeled_robots.robots.holonomic_robot_usd_setup] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,844ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+[3.862s] [ext: omni.isaac.window.about-2.0.7] startup
+2026-09-21T14:32:11Z [3,848ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
+2026-09-21T14:32:11Z [3,848ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly.
+[3.866s] [ext: omni.kit.manipulator.camera-106.0.4] startup
+[3.875s] [ext: omni.isaac.cortex.sample_behaviors-2.0.5] startup
+2026-09-21T14:32:11Z [3,858ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly.
+[3.876s] [ext: omni.sensors.nv.common-3.0.0] startup
+[3.898s] [ext: omni.kit.property.audio-1.0.16] startup
+[3.901s] [ext: omni.kit.property.camera-1.0.10] startup
+[3.904s] [ext: omni.sensors.net-1.0.0] startup
+[3.909s] [ext: omni.sensors.nv.materials-2.0.0] startup
+[3.914s] [ext: omni.kit.property.geometry-2.0.4] startup
+[3.918s] [ext: omni.kit.property.light-1.0.12] startup
+[4.002s] [ext: omni.kit.property.material-1.11.9] startup
+[4.007s] [ext: omni.sensors.nv.ids-2.0.0] startup
+[4.018s] [ext: omni.sensors.nv.wpm-3.0.0] startup
+[4.020s] [ext: omni.sensors.nv.lidar-3.0.0] startup
+[4.028s] [ext: omni.hydra.scene_api-0.1.2] startup
+[4.039s] [ext: isaacsim.util.debug_draw-3.1.0] startup
+[4.046s] [ext: omni.sensors.nv.radar-3.0.0] startup
+[4.049s] [ext: omni.kit.property.render-1.2.1] startup
+[4.051s] [ext: omni.kit.property.transform-1.5.13] startup
+[4.055s] [ext: isaacsim.gui.property-1.1.3] startup
+[4.057s] [ext: isaacsim.sensors.physx-2.3.2] startup
+[4.064s] [ext: isaacsim.sensors.camera-1.3.6] startup
+[4.072s] [ext: isaacsim.sensors.rtx-15.8.4] startup
+[4.083s] [ext: isaacsim.core.cloner-1.4.10] startup
+[4.092s] [ext: omni.kit.property.bundle-1.4.1] startup
+[4.095s] [ext: omni.kit.property.isaac-1.0.6] startup
+2026-09-21T14:32:11Z [4,078ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,078ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly.
+[4.096s] [ext: omni.isaac.range_sensor-4.0.6] startup
+2026-09-21T14:32:11Z [4,080ms] [Warning] [omni.isaac.range_sensor] omni.isaac.range_sensor has been deprecated in favor of isaacsim.sensors.physx. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,080ms] [Warning] [omni.isaac.range_sensor.commands] omni.isaac.range_sensor.commands has been deprecated in favor of isaacsim.sensors.physx.commands. Please update your code accordingly.
+[4.098s] [ext: isaacsim.replicator.writers-1.0.17] startup
+[4.113s] [ext: omni.isaac.sensor-13.0.7] startup
+2026-09-21T14:32:11Z [4,098ms] [Warning] [omni.isaac.sensor] omni.isaac.sensor has been deprecated in favor of isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, and isaacsim.sensors.rtx. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,098ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,098ms] [Warning] [omni.isaac.sensor.camera_view] omni.isaac.sensor.camera_view has been deprecated in favor of isaacsim.sensors.camera.camera_view. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,098ms] [Warning] [omni.isaac.sensor.commands] omni.isaac.sensor.commands has been deprecated in favor of isaacsim.sensors.physics.commands, isaacsim.sensors.physx.commands, and isaacsim.sensors.rtx.commands. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,098ms] [Warning] [omni.isaac.sensor.contact_sensor] omni.isaac.sensor.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.contact_sensor. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,099ms] [Warning] [omni.isaac.sensor.imu_sensor] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.imu_sensor. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,099ms] [Warning] [omni.isaac.sensor.lidar_rtx] omni.isaac.sensor.lidar_rtx has been deprecated in favor of isaacsim.sensors.rtx.lidar_rtx. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,099ms] [Warning] [omni.isaac.sensor.rotating_lidar_physX] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physix.rotating_lidar_physX. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,099ms] [Warning] [omni.isaac.sensor.scripts.samples.contact_sensor] omni.isaac.sensor.scripts.samples.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.contact_sensor. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,099ms] [Warning] [omni.isaac.sensor.scripts.samples.imu_sensor] omni.isaac.sensor.scripts.samples.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.imu_sensor. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,099ms] [Warning] [omni.isaac.sensor.scripts.samples.lightbeam_sensor] omni.isaac.sensor.scripts.samples.lightbeam_sensor has been deprecated in favor of isaacsim.sensors.physx.scripts.samples.lightbeam_sensor. Please update your code accordingly.
+[4.117s] [ext: omni.isaac.cloner-1.0.7] startup
+2026-09-21T14:32:11Z [4,102ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
+[4.121s] [ext: omni.kit.viewport.menubar.lighting-107.3.1] startup
+[4.135s] [ext: omni.kit.viewport.menubar.render-107.0.10] startup
+[4.143s] [ext: isaacsim.replicator.domain_randomization-1.0.16] startup
+[4.147s] [ext: isaacsim.replicator.examples-1.3.6] startup
+[4.149s] [ext: omni.ocio-0.1.1] startup
+[4.153s] [ext: omni.rtx.window.settings-0.6.19] startup
+[4.169s] [ext: omni.kit.window.console-1.1.4] startup
+[4.176s] [ext: omni.kit.window.status_bar-0.1.9] startup
+[4.182s] [ext: omni.replicator.isaac-2.0.8] startup
+2026-09-21T14:32:11Z [4,165ms] [Warning] [omni.replicator.isaac] omni.replicator.isaac has been deprecated in favor of isaacsim.replicator.domain_randomization, isaacsim.replicator.examples, isaacsim.replicator.writers. Please update your code accordingly.
+[4.183s] [ext: omni.replicator.replicator_yaml-2.0.11] startup
+[4.189s] [ext: omni.rtx.settings.core-0.6.5] startup
+[4.197s] [ext: omni.usd.metrics.assembler.ui-107.3.1] startup
+[4.206s] [ext: omni.isaac.surface_gripper-2.0.6] startup
+2026-09-21T14:32:11Z [4,190ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
+[4.208s] [ext: semantics.schema.editor-2.0.2] startup
+[4.212s] [ext: omni.kit.ui.actions-1.0.5] startup
+[4.214s] [ext: semantics.schema.property-2.0.1] startup
+[4.215s] [ext: omni.isaac.universal_robots-1.0.6] startup
+2026-09-21T14:32:11Z [4,198ms] [Warning] [omni.isaac.universal_robots] omni.isaac.universal_robots has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,199ms] [Warning] [omni.isaac.universal_robots.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,199ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+[4.217s] [ext: omni.isaac.core-4.0.7] startup
+2026-09-21T14:32:11Z [4,201ms] [Warning] [omni.isaac.core.physics_context.physics_context] omni.isaac.core.physics_context.physics_context has been deprecated in favor of isaacsim.core.api.physics_context.physics_context. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,202ms] [Warning] [omni.isaac.core.simulation_context.simulation_context] omni.isaac.core.simulation_context.simulation_context has been deprecated in favor of isaacsim.core.api.simulation_context.simulation_context. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,202ms] [Warning] [omni.isaac.core.world.world] omni.isaac.core.world.world has been deprecated in favor of isaacsim.core.api.world.world. Please update your code accordingly.
+2026-09-21T14:32:11Z [4,202ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
+[4.220s] [ext: isaacsim.gui.sensors.icon-2.0.3] startup
+[4.229s] [ext: isaacsim.asset.importer.mjcf-2.5.13] startup
+[4.244s] [ext: omni.kit.menu.common-2.0.1] startup
+[4.246s] [ext: isaacsim.exp.base-5.1.0] startup
+[4.246s] [ext: omnigibson_5_1_0-3.9.2] startup
+[4.248s] Simulation App Starting
+2026-09-21T14:32:12Z [4,852ms] [Warning] [omni.fabric.plugin] Warning: attribute viewportHandle not found for bucket id 9
+
+[4.907s] app ready
+[7.273s] Simulation App Startup Complete
+[7.593s] [ext: omni.physx.fabric-107.3.26] startup
+2026-09-21T14:32:15Z [7,737ms] [Warning] [omni.fabric.plugin] Warning: attribute physics:filteredGroups not found for path /World/collision_groups/structural_doors
+
+2026-09-21T14:32:16Z [8,677ms] [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.
+
+                   ____________
+                  /          / \
+                 /          / /__
+                /          / /  /\
+               /__________/ /__/  \
+               \   _____  \ \__\  /
+                \  \  / \  \ \_/ /
+                 \  \/___\  \   /
+                  \__________\_/  
+       ___                  _  ____ _ _                     
+      / _ \ _ __ ___  _ __ (_)/ ___(_) |__  ___  ___  _ __  
+     | | | | '_ ` _ \| '_ \| | |  _| | '_ \/ __|/ _ \| '_ \ 
+     | |_| | | | | | | | | | | |_| | | |_) \__ \ (_) | | | |
+      \___/|_| |_| |_|_| |_|_|\____|_|_.__/|___/\___/|_| |_|
+
+[00:00:12.404] [INFO] [omnigibson.simulator] ---------- Welcome to OmniGibson! ----------
+[00:00:12.549] [WARNING] [omnigibson.scenes.scene_base] Scene file does not contain version information; skipping version compatibility check.
+2026-09-21T14:33:12Z [64,746ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T14:33:14Z [66,775ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar LdrColorSDhost
+2026-09-21T14:33:14Z [67,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,021ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,022ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,139ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,139ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,170ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,205ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,205ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,205ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,206ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,206ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,206ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,237ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:14Z [67,238ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,268ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,268ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,302ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,302ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,302ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,302ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,303ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,303ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [67,308ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,048ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,048ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,048ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,048ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,084ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,107ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,108ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,113ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,113ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,119ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,126ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,126ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,133ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,133ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,140ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:15Z [68,140ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,326ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,327ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,697ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,730ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,731ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,841ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getDofFrictionProperties instead.
+2026-09-21T14:33:16Z [68,841ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use setDofFrictionProperties instead.
+[00:01:13.934] [INFO] [omnigibson.simulator] Imported scene 0.
+[00:01:13.973] [WARNING] [omnigibson.robots.robot] r1pro is set to floating base but is not a non-holonomic locomotion robot
+2026-09-21T14:33:25Z [77,716ms] [Warning] [rtx.postprocessing.plugin] DLSS increasing input dimensions: Render resolution of (240, 240) is below minimal input resolution of 300.
+[00:01:22.217] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time.
+[00:01:22.221] [WARNING] [omnigibson.utils.usd_utils] RigidContactAPI cannot compute contacts because the physics sim view is invalid. This is expected if the physics sim view is not yet initialized, e.g. you are loading a scene for the first time.
+2026-09-21T14:33:26Z [78,535ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T14:33:26Z [78,536ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T14:33:26Z [78,537ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T14:33:26Z [78,538ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T14:33:29Z [81,288ms] [Warning] [carb] Client omni.hydratexture.plugin has acquired [carb::settings::ISettings v1.0] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+2026-09-21T14:33:31Z [83,900ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint
+2026-09-21T14:33:35Z [87,284ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/right_eef_link/ag_constraint
+2026-09-21T14:33:39Z [91,904ms] [Warning] [carb] Client gpu.foundation.plugin has acquired [gpu::unstable::IMemoryBudgetManagerFactory v0.1] 100 times. Consider accessing this interface with carb::getCachedInterface() (Performance warning)
+RECOVERY progress 120 human_carry_pose_for_pick {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 240 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 360 navigate_to_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 480 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'}
+RECOVERY progress 600 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': None, 'right': 'trash_can_116'}
+2026-09-21T14:36:31Z [263,249ms] [Warning] [omni.physx.plugin] PhysicsUSD: CreateJoint - found a joint with disjointed body transforms, the simulation will most likely snap objects together: /World/scene_0/controllable__r1pro__robot_r1/left_eef_link/ag_constraint
+RECOVERY progress 720 grasp_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 840 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 960 coordinate_bin_under_can {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1080 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1200 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1320 meet_hands_for_drop {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': False} {'left': 'can_of_soda_114', 'right': 'trash_can_116'}
+RECOVERY progress 1440 retract_hand_after_release {'can__of__soda.n.01_1': True, 'can__of__soda.n.01_3': True, 'can__of__soda.n.01_2': True} {'left': None, 'right': 'trash_can_116'}
+GEOMETRY_QA False 0
+2026-09-21T14:38:01Z [353,278ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T14:38:01Z [353,278ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+2026-09-21T14:38:01Z [353,278ms] [Warning] [carb] Plugin interface for a client: omni.hydratexture.plugin was already released.
+[353.412s] Simulation App Shutting Down

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/supervision_mask.npy

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+{
+  "run": "/media/david/SSD/task01_recovery_scratch/vla_failure_recovery_20260918/vla-episode_00019350-f001992/attempt_001",
+  "geometry_audit_version": 3,
+  "scope": "Conservative torso/base spheres, including the configured base padding; not actual mesh penetration.",
+  "source_handoff_end": 3,
+  "source_overlap_limit_m": 0.01,
+  "inherited_overlap_limit_m": null,
+  "generated_ancestor_envelopes": [],
+  "max_observed_overlap_m": 0.0,
+  "max_supervised_command_overlap_m": 0.0,
+  "flagged_supervised_steps": 0,
+  "flagged_frames": [],
+  "config_sha256": "27370ab23de78ac95efa376fa03bcbf0a87a30fca57fc506a18be4741cac9785",
+  "review_required": false
+}

task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/trajectory.hdf5

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task01_picking_up_trash/centre_human_first_recovery/campaigns/vla_failure_recovery_20260918/runs/vla-episode_00019350-f001992/attempt_001/video.mp4

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